This paper presents an explicit work on developing a parallel manipulator for medical application. There are many applications in medicine that requires the technology of robotics like injecting electrodes, drilling of bone, medical transportation, to carry out different tests and so on. Surgeons divert their focus on improving the quality of the surgical procedure that includes accuracy, security, low morbidity and mortality. This work mainly concentrates on designing and developing a kinematic and dynamic model of parallel manipulator for bone drilling application which is required for prosthetics operations. According to the requirement of the application a three prismatic-universal-universal (3PUU) parallel manipulator is designed which rotates about x and y axis and translates along z axis. This research work involves in developing a conceptual design, deriving kinematics both inverse and forward, workspace and dynamics of the parallel manipulator. Inverse kinematics is obtained by the geometrical approach whereas inverse dynamics is obtained using Langrangian method. Further, the tool inverse kinematic solutions, overall workspace, dynamics of the three legs are determined. This study will help the researchers for the further development of parallel manipulators in medical assistance. © 2018 The Authors. Published by Elsevier Ltd.