The performance of traditional serial robots and parallel robots are compared in the terms of accuracy, stiffness and payload capacity; which lead to the conclusion that, though the parallel manipulators (PMs) have better dynamic performance than serial robots but the complexity in their configuration and limitations in workspace are the areas where improvisation are required. This work aims to develop aT-RRR (T-3R) manipulator with delta configuration and to introduce the additional 3600 rotation to the conventional architecture to enlarge its workspace. The inverse and forward kinematic equations for the proposed manipulator have been developed by using a geometric method. The MATLAB software is used to generate the workspace of the T-3Rmanipulator is generated in MATLAB software. The developed manipulator can be used for pick and place application. © 2018, Institute of Advanced Scientific Research, Inc. All right reserved.