In this thesis, the kinematics, Isotropic Design, Dynamics and Control of a four degree of freedom parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator consists of a BP and a MP which is connected by means of four legs. Each leg is connected to BP by a universal joint and to the MP by a spherical joint. Inverse kinematics problems were studied for the problem in position, velocity and acceleration. The minimum numbers of equations of motion of the manipulator have been derived using the natural orthogonal complement methodology. Numerical examples are solved for the different motions of MP in order to obtain the motion of the legs and the actuator forces of the legs. The effects of leg masses and position of the center of mass of MP on the results have been examined. The present study can be used in design and control of this type of manipulator. Moreover, it can further display the potential applications of the proposed manipulator as a moving mechanism in flight simulators. Isotropic conditions for Jacobian matrices, which relate the input joint velocity and output Cartesian velocity, are determined separately using a pure symbolic method. Thereafter, upon determining the isotropic conditions for manipulator, the variation of the kinematic condition index is studied with respect to the motion of the moving platform to show how far the manipulator is from being isotropic. Finally, the isotropic conditions are obtained numerically for manipulator with use kinematics condition index. The dynamical equation of motion of the manipulator are determined using Newton-Euler’s equations and applying the NOC method and presents a systematic methodology for solving the inverse dynamics of the robot. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of four linear equations in four unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated and finally present a (PID), (CTM) and (SMC) approach for the motion control of this robot. Keywords: parallel robot, Natural Orthogonal Complement, Isotropic design, Principle virtual work,PID, CTM, SMC