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This article provides a formalism making it possible to manage the solutionsof the direct and inverse kinematic models of the fully parallel manipulators.We introduce the concept of working modes to separate the solutions from theopposite geometrical model. Then, we define, for each working mode, the aspectsof these manipulators. To separate the solutions from the direct kinematicsmodel, we introduce the concept of characteristic surfaces. Then, we define theuniqueness domains, as being the greatest domains of the workspace in whichthere is unicity of solutions. The principal applications of this work are thedesign, the trajectory planning.

S\'eparation des Solutions aux Mod\`eles G\'eom\'etriques Direct et Inverse pour les Manipulateurs Pleinement Parall\`eles