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This paper presents a planar parallel three-degree-of-freedom underactuated cable-driven robot. The mechanism is first described and a dynamic model is derived. One of the advantages of the proposed mechanism is that it does not require any mechanical (e.g. pulleys) or electrical (e.g. actuators) hardware to be mounted on the end-effector. A trajectory planning approach is developed, which is based on the natural frequency of the pendulum-like free motion (unconstrained degree of freedom). Sine-like excitation functions are used and their frequency and phase delay are determined using simulation results. A prototype is then described and experimental results are provided together with a video clip of an example trajectory. The results confirm that the mechanism can be effectively used for point-to-point trajectories.

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