**12. Conclusion**

Features such as precision, speed, stiffness, and workspace with singularity point distinguish the parallel robots from the Serial robots. But the weak points of these robots compared with Serial robot are the move limited workspace. In this paper, first, the limitations and weaknesses of the Triangle-Star Robot {T-S 3(PRP)} were recognized. To remove these disadvantages, a robot with telescopic arms were presented and its kinematics analysis done through Harten‐ beg–Denavit instruction. In addition, there is no disturbance in the totality of the discussion.

Afterwards, to increase the workspace,

