<p>The 3-prismatic-revolute-spherical (3-PRS) spatial parallel manipulator is synthesized for multi-positions by using least-square technique. The purpose of choosing least-square technique is to minimize the functional errors of the resultant positions and orientations of the moving platform of the manipulator. In 3-PRS spatial parallel manipulator a common singularity condition occurs when three joints Lie on the common plane. These common planes intersect at a unique point where the direction of the joint axis and the position of the spherical joint intersect. The 3-PRS manipulator which was synthesized for an infinite number of positions and orientations and hence there is no scope for singularities. The space Limitation issues arise in existing synthesized manipulator and then alternatively cognate synthesized manipulators are to be introduced. This work aim is to generate cognate Linkages of a synthesized 3-PRS spatial parallel manipulator for prescribed positions and orientations of the moving platform. The cognate manipulators will give the same output as that of the synthesized manipulator and are useful in flexibility and compactness of space limitation applications.</p>