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 , which each have a first axis of rotation 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 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 , which each have a first axis of rotation 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 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 . <EOS>