It　has　been　nearly　60　years　since　the　introduction　of　the　Gough–Stewart　manipulator　(GSM).　With　the　advantages　of　superior　load　capacity　and　high　precision,　the　GSM　still　plays　an　important　role　in　many　fields.　However,　the　GSM　has　limitations　such　as　a　small　workspace　and　complex　singularities.　To　overcome　these　problems,　a　novel　kinematically　redundant　parallel　robot　is　designed　with　three　redundant　actuators　added　on　the　basis　of　the　GSM.　First,　the　structure　of　the　proposed　robot　is　introduced,　and　the　kinematics　of　the　proposed　robot　is　established.　Second,　the　workspaces　of　the　proposed　robot　are　analyzed,　and　the　results　show　that　the　position　workspace　volume　and　the　maximum　torsion　and　orientation　angles　of　the　proposed　robot　can　be　improved　effectively.　Third,　the　singularities　of　the　proposed　robot　and　the　GSM　are　compared　based　on　the　Jacobian　matrices.　Finally,　the　multi-parameter,　multi-objective　optimization　is　used　to　optimize　the　geometric　parameters　of　the　proposed　robot,　and　an　experimental　prototype　of　the　proposed　robot　is　designed　based　on　the　optimization　results.　©　2023　by　the　authors.