“…Parallel robotic manipulators are often said to be more precise and accurate than serial robotic manipulators because they do not suffer from error accumulation [3]. Though this might be true in theory, the practical reason is that parallel manipulators can be built to be stiffer without being bulkier [1,2]. Compared with serial manipulators, parallel manipulators have the following potential advantages namely higher precision, higher stiffness, higher payload bearing capability and stable structure [1][2][3][4][5].…”