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This paper concerns a new robotic arm with a parallel structure, but with a functionality or geometry similar to the serial structure of a SCARA robot. However, it has a number of advantages compared to a SCARA robot and to other conventional manipulators with parallel structures. It has high stiffness, low inertia and a large payload with comparison to SCARA robots, and a larger workspace with comparison to conventional manipulators with parallel structures. This paper and related research is aimed at overcoming the problems encountered in the design, modeling and application of such robotic arms. In fact, the proposed structure has simpler and more manageable mathematical models compared to those of other 3D parallel structures.