The article considers the kinematic scheme of a manipulator-tripod with an additional passive link in the form of a tube, which allows the actuators to be unloaded from bending moments during the loading of the working body and to supply energy or a working solution to the end-effector of the manipulator. The research is devoted to the synthesis of movements of the executive mechanisms of a tripod manipulator with an additional passive link. As a result, the driving forces of the manipulator were determined when moving the end-effector from point to point.