“…Parallel mechanisms actuated in parallel by several serial kinematic chains can offer higher accuracy and stiffness, very high motion speed, and heavier payloads than their serial opponents [1][2][3][4][5]. Nowadays, the conventional parallel mechanism with six degrees of freedom (DOFs) of three translations and three rotations (structure 3T3R), also known as the Stewart platform, can be found in wide variety of applications involving motion simulators [6,7], parallel machine tools [8][9], force-torque sensors [10][11][12], heavy-duty free forming production machine [13], testing stands, antennas, micro-positioning units [14][15], calibration devices [16], etc.…”