Initial enthusiasm for the parallel kinematics in the eighties of the last century slumped significantly during the last twenty years. There were found some disadvantages of standard parallel kinematic structures. The experts around the world began to seek new solutions of outlined problems. They defined several possible ideas which could eliminate the drawbacks and improve the properties and advantages of parallel machines. One of these ways was also the application of mechanisms based on the kinematic structure that consisted of serial and parallel substructures as well. This article is focused on the development of mechanism with hybrid kinematic structure called Trivariant. This mechanism is similar to the well-known and succesful concept called Tricept, represented by various machines.
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