The 6-RUS parallel manipulator is composed of two triangular platforms, one fixed and one mobile. On the fixed platform there are six rotary actuators (R) situated on the axes of the triangle. Each actuator is attached to a crank which in turn is connected to a crank by means of a universal joint (U). The other end of the rod is attached to the mobile platform through a ball joint or ball joint (S). In the manipulator of the image, it is assumed that each two rods converge into a vertex of the mobile platform.