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This study deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first  three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device is solved by dividing manipulator  into two sub-manipulators with the help of three imaginary joints placed at the intersection of platform joints with a direction parallel to base joints.