A parallel mechanism for manipulating an object in space is provided. The parallel mechanism includes an end platform for supporting an object to be manipulated and an intermediate platform arranged in spaced relation from the end platform and connected to the end platform by a connecting element. A plurality of first links are connected to the end platform and a plurality of second links are connected to the intermediate platform. A linear motor is associated with each first link and each second link for translating the ends of the first and second links to move the end and intermediate platforms.
