This research article is based on the development and kinematics analysis of a novel mobile Euclidean parallel manipulator. The mobile manipulators and parallel manipulators were investigated to improve the setbacks of each of these manipulators. The design of the new mobile Euclidean parallel manipulator type robot manipulator is an improved type of both mobile platforms and parallel manipulators. The design of the mobile manipulator is created by combining the Euclidean platform with a mobile differential drive manipulator. In order to allow the design of this type of hybrid manipulator, the kinematics of the mobile Euclidean platform manipulator and the kinematic analysis of the new manipulator design for non-holonomic differential mobile manipulators were performed in two standalone sections. Finally, a test case study is provided in a simulation environment to validate the numerical results of the novel manipulator.