The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3′, 4, 4′), four platform arms (5, 5′, 5″, 5′″), each frame and platform arm (3, 3′, 4, 4′, 5, 5′, 5″, 5′″) with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3′, 4, 4) linked to the frame (1) and being the second end of each frame arm (3, 3′, 4, 4′) linked to a first end of a platform arm (5, 5′, 5″, 5′″), being the second end of each platform arm (5, 5′, 5″, 5′″) linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3′) are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4′) are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4′) coupled. Said first and second frame arms (3, 3′) and third and fourth frame arm (4, 4′) are contained in two different planes, being said planes orthogonal.
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