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Mathematical models for six degrees of freedom (DOF) parallel robot manipulator have been developed and described in this paper. These models deal with the statics and kinematics of the manipulator. The static part is concerned with the structural analysis of the manipulator. The kinematics covers both the forward and inverse kinematics problems of the manipulator. These models have been developed and simulated, using C++. Singular configurations of the manipulator were observed during simulation tests. The analysis of the singular configurations of the manipulator has been discussed. The Simulation results of the models have also been presented.