This paper presents the conceptual design of a new 3-DoF SCARA-like robot, which combines a five-bar mechanism with a prismatic joint. Several practical transmission systems are applied to realize the prismatic actuator and to transmit rotational motion from the base to the two revolute joints of the five-bar mechanism so that all actuators can be fixed at the base. The authors also integrate a vacuum gripper and add passive parallelogram linkages. As a result, the proposed robot can be applied in various pick-and-place applications. The kinematics of this hybrid architecture are analyzed in detail, and a prototype has been developed in SolidWorks. The operation of the proposed robot is then demonstrated through two simulations. In the first simulation, the robot performs 3-DoF translational motions, while in the second simulation, it executes a pick-and-place task with a block. Finally, the authors summarize the contributions and discuss potential future work.