This work focuses on the modelling and simulation of 3-PRS (Prismatic - Revolute - Spherical) Tripod Parallel Manipulator. This tripod mechanism consists of base platform and movable platform, which are connected by means of three links or limbs. Spherical joints are used to connect one end of the link and the moving platform and the other end of the link is connected by revolute joint to the nut. This tripod type Parallel Manipulator is having two orientation freedoms and one translation freedom, which is actuated by means of screw pair, which in turn is operated by a stepper motor. This proposed tripod mechanism is modelled and simulated by using ADAMS®. The simulation results are obtained by considering the geometrical parameters, Transmission angle of the link and Singularity of the mechanism. From the simulation results a study is carried out based on torque at the joints, angular tilt and singular positions of the parallel manipulator. © 2012 IEEE.