This idea comes from the actual contest of climate change. The Climate Change Mitigation (CCM) has become a priority in Europe. To deal with this huge challenge, the European Council adopted new environmental targets for EU in 2008, the so-called « 20-20-20» targets, in which the first two targets are : o To reduce emissions of Greenhouse Gases y 20% by 2020, and o To increase energy efficiency to save 20% energy consumption by 2020 (40% and 27% by 2030) Fig. 1 Environmental impact of a Kuka KR 270 robot during is total life cycle (manufacturing + use during 12 years)/ Energy consumed during the use phase data form [1] • Design and control of 2 degrees-of-freedom wooden parallel robot (Five-bar Mechanism) • Repeatability < 0.5 mm • Deformation (under a load of 1 kg) < 0.5 mm • Workspace dimensions: 800 mm x 200 mm