A robotic arrangement with parallel architecture, comprising a frame and an end effector mounted on a mobile support, in particular a mobile platform, said mobile support being connected to said frame via a plurality of actuation cables, in particular four actuation cables, in such a way as to move according to two degrees of freedom in a plane rectangular movement space, said robotic arrangement comprising a plurality of actuators for moving respective actuation cables, said actuators being in a number greater than said degrees of freedom of the end effector, each actuation cable coupling a respective portion of said frame and a respective portion of said mobile support according to a loop path ( l i) between at least two proximal anchorage points (A i) associated to said portion of the frame and two distal anchorage points (B i) associated to said respective portion of the support, wherein said robotic arrangement comprises for each loop ( l i) a proximal transmission assembly positioned on the frame downstream of each actuator with respect to the path of the cable, and a distal transmission assembly positioned on the mobile support of the end effector, each one between said proximal transmission assembly and said distal transmission assembly comprising, at the respective anchorage points (A i, B i) articulated pulleys (23, 24), which each have a first axis of rotation (23a, 24a) of the respective pulley, in particular of a rotating disk thereof, that is parallel to the plane rectangular movement space, and a second axis of rotation, about which said first axis of rotation turns, that is perpendicular to the plane rectangular movement space, the exit point of the actuation cable on each pulley (23, 24) identifying the respective anchorage point (Ai, B i), said proximal transmission assembly being associated to a sensor configured to measure the tension of the respective actuation cable. said mobile support being connected to said frame via a plurality of actuation cables, in particular four actuation cables, in such a way as to move according to two degrees of freedom in a plane rectangular movement space, said robotic arrangement comprising a plurality of actuators for moving respective actuation cables, said actuators being in a number greater than said degrees of freedom of the end effector, each actuation cable coupling a respective portion of said frame and a respective portion of said mobile support according to a loop path ( l i) between at least two proximal anchorage points (A i) associated to said portion of the frame and two distal anchorage points (B i) associated to said respective portion of the support, wherein said robotic arrangement comprises for each loop ( l i) a proximal transmission assembly positioned on the frame downstream of each actuator with respect to the path of the cable, and a distal transmission assembly positioned on the mobile support of the end effector, each one between said proximal transmission assembly and said distal transmission assembly comprising, at the respective anchorage points (A i, B i) articulated pulleys (23, 24), which each have a first axis of rotation (23a, 24a) of the respective pulley, in particular of a rotating disk thereof, that is parallel to the plane rectangular movement space, and a second axis of rotation, about which said first axis of rotation turns, that is perpendicular to the plane rectangular movement space, the exit point of the actuation cable on each pulley (23, 24) identifying the respective anchorage point (Ai, B i), said proximal transmission assembly being associated to a sensor configured to measure the tension of the respective actuation cable.