The paper is paying attention on a 2-Revolute & 1-Prizmatic (RRP) kind of manipulator kinematically. The manipulator is based on a parallelogram linkage mechanism and translates along horizontal directions and z-axis motion i.e. vertical movement is provided by effective stylus length. At the end-effecter a palm router installed with milling cutter is mounted. Compared to conventional milling machine it can traverse the de-scaled profile traversed by stylus. The forward kinematic equations have been formulated. The simulation results by solid works software approximately matches the computation formulation derived in this paper. A prototype is made-up to perform milling operation on any contour.
