S. Krut, V. Nabat, O. Company, and F. Pierrot, A high-speed parallel robot for scara motions, 2004.
URL : https://hal.archives-ouvertes.fr/lirmm-00108840

C. Baradat, V. Arakelian, S. Briot, and S. Gugan, Design and Prototyping of a New Balancing Mechanism for Spatial Parallel Manipulators, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00451887

, Journal of Mechanical Design, issue.7, p.130

S. Briot, A. , and V. , A New Energyfree Gravity-compensation Adaptive System for Balancing of 4-DOF Robot Manipulators with Variable Payloads, Proc. of the 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01160827

S. K. Agrawal and A. Fattah, Reactionless Space and Ground Robots: Novel Designs and Concept, Studies. Mech. Mach. Theory, vol.39, pp.25-40, 2004.

J. Wang and C. M. Gosselin, Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms, Mech. Mach. Theory, vol.34, pp.437-452, 1999.

G. A. Pratt and M. M. Williamson, Series elastic actuators, Proc. of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.399-406, 1995.

J. E. Pratt, M. C. Chee, A. Torres, P. Dilworth, and G. A. Pratt, Virtual model control: an intuitive approach for bipedal locomotion, International Journal of Robotics Research, vol.20, issue.2, pp.129-143, 2001.

R. Van-ham, S. Thomas, B. Vanderborght, K. Hollander, and D. Lefeber, Compliant actuator designs: review of actuators with passive adjustable compliance/controllable stiffness for robotic applications, IEEE Robotics and Automation Magazine, vol.16, issue.3, pp.81-94, 2009.

B. Vanderborght, A. Albu-schaeffer, A. Bicchi, E. Burdet, D. Caldwell et al., Variable impedance actuators: moving the robots of tomorrow, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, 2012.

S. Wolf, G. Grioli, O. Eiberg, W. Friedl, M. Grebenstein et al., Variable stiffness actuators: Review on design and components, IEEE/ASM Transactions on Mechatronics, vol.21, issue.5, pp.2418-2430, 2016.

K. Hollander and T. Sugar, Concepts for compliant actuation in wearable robotic systems, Proc. of the US-Korea Conference on Science, Technology and Entrepreneurship (UKC04), vol.128, pp.644-650, 2004.

N. Tsagarakis, M. Laffranchi, B. Vanderborght, and D. Caldwell, A compact soft actuator unit for small scale human friendly robots, IEEE Int. Conf. on Robotics and Automation, pp.4356-4362, 2009.

R. Van-ham, B. Vanderborght, M. Van-damme, B. Verrelst, and D. Lefeber, MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: design and implementation in a biped robot, Robotics and Autonomous Systems, vol.55, issue.7, pp.761-768, 2007.

B. Vanderborght, R. Van-ham, B. Verrelst, M. Van-damme, and D. Lefeber, Overview of the lucy project: dynamic stabilization of a biped powered by pneumatic artificial muscles, Advanced Robotics, vol.22, issue.25, pp.1027-1051, 2008.

M. Uemura and S. Kawamura, Resonancebased motion control method for multi-joint robot through combining stiffness adaptation and iterative learning control, IEEE International Conference on Robotics and Automation, pp.1543-1548, 2009.

H. Goya, K. Matsusaka, M. Uemura, Y. Nishioka, and S. Kawamura, Realization of high-energy efficient pick-and-place tasks of scara robots by resonance, IEEE/RSJ International conference on Intelligent Robots and Systems, IROS 2012, pp.2730-2735, 2012.

J. P. Barreto, F. J. Schöler, .. Corves, and B. , The concept of natural motion for pick and place operations, New advances in mechanisms, mechanical transmissions and robotics, pp.89-98, 2017.

S. Briot and W. Khalil, Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements, pp.978-981, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01152660

J. Merlet, Parallel Robots, 2006.
URL : https://hal.archives-ouvertes.fr/lirmm-00127856

S. J. Chapman, Electric Machinery Fundamentals, Fifth Edition, McGraw-Hill Education, 1991.

P. Pillay and R. Krishnan, Modeling, simulation, and analysis of permanent-magnet motor drives. Part II. The brushless DC motor drive, IEEE Transactions Industry Applications, vol.25, pp.274-279, 1989.

J. Millman, Microelectronics: Digital and Analog Circuits and Systems, 1986.

S. Saravana-perumaal, J. , and N. , Automated trajectory planner of industrial robot pickand-place task, Int. Journal of Advanced Robotic Systems, vol.10, pp.1-17, 2013.

C. Gosselin, A. , and J. , Singularity analysis of closed-loop kinematic chains, IEEE Transactions On Robotics And Automation, vol.6, issue.3, pp.281-290, 1990.

M. Conconi and M. Carricato, A new assessment of singularities of parallel kinematic chains, IEEE Transactions on Robotics, vol.25, issue.4, pp.757-770, 2009.

L. Kaci, S. Briot, C. Boudaud, and P. Martinet, Design of a Wooden Five-bar Mechanism, Proceedings of the 22nd CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RO-MANSY 2018), 2018.
URL : https://hal.archives-ouvertes.fr/hal-01759337

. Siemens, The performance-optimized and easy-touse servo drive system, SINAMICS V90 datasheet