Parallel manipulators are characterized as closed loop kinematic chain mechanisms, as they are connected parallel to the base via numerous independent chains. This research work is focused on the model of 3-RPR parallel manipulator using electromechanical linear actuator to achieve the precise positioning. The kinematics equations are derived based on vector approach. The inverse kinematics equations are solved using MATLAB. The proposed parallel manipulator is simulated to find various movable platform positions with respect to various linear actuator lengths using Solid Works CAD package. Further, to verify the results obtained from mathematical, simulation a prototype model has developed. To achieve the accurate link lengths and to attain precise position, the kinematic results are validated with experimental results. Experiments were carried out for position analysis and to find out the angle of inclination of movable platform with respect to Y-axis for precise positioning. In future work, the developed parallel manipulator can be used for angular machining applications. © 2018, Institute of Advanced Scientific Research, Inc. All rights reserved.