Tsai, Lung-WenStamper, Richard E.This report presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.en-USkinematicsroboticsparallel manipulatorsIntelligent Control SystemsTechnical Report