A new three-prismatic-revolute-cylindrical (three-PRC) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analysed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are identified afterwards. Moreover, the mechanism design rules producing a singularity-free manipulator have been generated. Under different cases of physical constraints subject to mechanical joints, the reachable workspace of the manipulator is geometrically determined and compared. In particular, it is illustrated that the manipulator has a regular shape workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, to obtain a large usable workspace, the architecture design of a three-PRC TPM is carried out and the singularity property within the usable workspace is verified. Simulation results show that there are no singular configuration within the workspace, which reveal the validity of design rules for a singularity-free three-PRC TPM. © IMechE 2007.