**3. The number of degree-of-freedom for T-S Robot**

The most famous and prevalent method to calculate the degree of freedom (DOF) is using formula (1) and according **Table 1** [9].

$$F = 6(N - L - 1) + \sum\_{i=1}^{n} f\_i \tag{1}$$

*N* = The number of arms, *L* = The number of robotic joints, *fi* = Indicated of DOF related *i* joint as shown in the above mentioned table. On the other hand, in the parallel manipulator robot, *N* = 8, *L* = 9 and *fi* for *i* = 1,…,9 equals 1, thus the robot's DOF is equal to 3.


**Table 1.** DOF for type of joint [9].
