Human masticatory system exhibits optimal stiffness. energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains. 2 higher kinematic pairs) redundantly actuated parallel robot (RAPR) based on its musculoskeletal biomechanics. https://herbsdailyes.shop/product-category/weight-gainers/