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In the present research, an intrinsically compliant parallel robot with 3-DOFs, actuated using four pneumatic muscle actuators (PMA), is conceptualized, developed, and analyzed. Despite many benefits, parallel robots also offer certain challenges that arise from the highly coupled and nonlinear motion of their actuators. The small workspace of parallel robots has many singularities and solving a closed-form forward kinematics (FK) for its end-effector motion is complicated. The PMAs can provide intrinsically compliant robotic motions, however, since they are flexible, their unilateral actuation also poses constraints on the achievable DOFs. The present research focuses on analyzing kinematics and dynamics of the developed parallel robot incorporating the stiffness together with force closure analyses besides suggesting design improvements as a consequence of the singularity analysis. Design synthesis and multi-criteria optimization have been performed to obtain a robot design which may provide higher accuracies (near unity condition number), quick response to external wrench (stiffness and rigidity), and reduced actuator force requirements. SPEA2 (Improved Strength Pareto Evolutionary Algorithm) has been implemented to carry out the simultaneous optimization of design objectives and provide Pareto optimal design solutions.<\/jats:p>","DOI":"10.1115\/1.4048135","type":"journal-article","created":{"date-parts":[[2020,8,18]],"date-time":"2020-08-18T21:30:29Z","timestamp":1597786229000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":12,"title":["Numerical Framework and Design Optimization of an Intrinsically Compliant 3-DOF Parallel Robot"],"prefix":"10.1115","volume":"21","author":[{"given":"Shahid","family":"Hussain","sequence":"first","affiliation":[{"name":"Human-Centred Technology Research Center, Faculty of Science and Technology, University of Canberra, Bruce, Canberra, ACT 2617, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Prashant K.","family":"Jamwal","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Nazarbayev University and ReLive Research, Astana 010000, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Akim","family":"Kapsalyamov","sequence":"additional","affiliation":[{"name":"Human-Centred Technology Research Center, Faculty of Science and Technology, University of Canberra, Bruce, Canberra, ACT 2617, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mergen H.","family":"Ghayesh","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, The University of Adelaide, SA 5005, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"33","published-online":{"date-parts":[[2020,10,16]]},"reference":[{"issue":"5","key":"2020101608551568800_CIT0001","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1016\/j.robot.2013.02.001","article-title":"Design and Kinematic Analysis of 3PSS-1S Wrist for Needle Insertion Guidance","volume":"61","author":"Puglisi","year":"2013","journal-title":"Robotics Auton. 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