<p>The innovative design of high-performance robots is a critical and eternal theme in advanced manufacturing field. This paper presents the systematic design methodology and development for one novel three-translational (3T) degree of freedom (DOF) parallel manipulator (PM) without explicit moving platform. Firstly, aiming at efficient pick-and-place manipulation, a topology design method based on Grassmann line graph theory and evolution of geometric characteristic is presented to invent four novel 3T-DOF PMs (named successively TGU-AES(I) to TGU-AES(IV)) with articulated end structure, which are endowed with high dynamic performance, and the TGU-AES(II) PM is determined as the prototype candidate with further design. This provides a reference for the innovative design of parallel robots in the future. Secondly, the mobility, inverse position analytical solutions, velocity/acceleration mapping models and workspace are anatomized systematically. Subsequently, one performance optimization strategy based on prescribed task workspace leveraging good motion/force transmission space ratio and distribution rate of good transmission performance is formulated to achieve the optimized TGU-AES(II) PM, which is proven to outperform the traditional Delta PM on motion/force transmission performance. This enriches the optimization strategies for the dimensional synthesis of parallel robots. Moreover, the rigid-body dynamic model of system is established, and the reliability of the kinematic and dynamic models is verified through multibody simulation experiment. Based on the theoretical analysis and design results, the principle prototype of TGU-AES(Ⅱ) PM is developed and experimentally verified. The testing results illustrate that the developed TGU-AES(Ⅱ) PM can be served as another alternative apart from Delta PM to conduct promising application in the field of high-speed pick-and-place operations in future.</p>