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In this paper, a novel six degrees of freedom that are five degrees of rotational freedom and one degree of translational freedom, hybrid robot is proposed. The robot is used in tele-echography application. It main task is to hold and place a probe on the patient's skin during an examination. The robot structure consists of two modules: The first one is the translation module which is consists of a five bar linkage, enabling the probe to move on the horizontal plan of the body, the workspace for this module is analyzed and the manipulability measure is presented to evaluate the best postures and the singularities positions. The second one is the orientation module; it is used to obtain a spherical motion around the point of contact with patient's body. A serial kinematic of this module is proposed which are three revolute joints with concurrent axes.
