The structure of a novel manipulator based on the parallel mechanism is established.The main body of the manipulator is the parallel mechanism with three traslational degrees of freedom.There is an auxiliary chain-RTPTR between fix platform and moving platform of the manipulator.The output structure is rotating axis of auxiliary chain

which is different from normal parallel mechanisms.There are four freedoms

which are three traslational and one rotational freedom.The structure of the manipulator is simple.Particularly

the rotational freedom is flexible and independent.It is easy to control.The structure and kinematics characteristics are analyzed.Taking the 3—RPC+RTPTR as an example

the displacements are studied.At last

the uses of the manipulator are presented.