A new 4-DOF parallel manipulator, called the PAMINSA 1 , is presented in this paper. The invented parallel structure consists of two (or three) legs, each one of which is a pantograph mechanism. The architecture of the PAMINSA is such that the platform displacements in the horizontal plane are independent of the translation along the vertical axis. The advantages of this architecture are the simplification of the vertical control based on the linear input-output equation and the improvement of positioning accuracy in the horizontal plane.