The manipulator provides a gain in terms of production rate compared to conventional serial manipulators. The trajectory planning made it possible to optimize the performance of the parallel 3RRR manipulator in its workspace. This planning was done on the octave software, based on the modeling of the manipulator using the inverse geometry method. Which allowed to determine the workspace of the robot. The working space of a parallel robot therefore depends on the different independent kinematic chains that connect the base to the effector (mobile platform).