In this work a new class of redundant robot manipulators called DeLiA is introduced. The main features of the proposed robots are: • Symmetry • Decoupled architecture. Only three of the six active limbs connect the end–effector– platform to the fixed platform • The forward position analysis, a challenging task of most parallel manipulators, is carried–out by solving two sets of non–linear equations • The proposed robot does not require of special conditions of mechanical assembly like intersection of screws or similar • The six active limbs are mounted on the fixed platform, simplifying the kinematics and control of the robot • Redundancy, the robot is endowed with an extra degree of freedom which can be used with the purpose to avoid/escape from singular configurations, as well to optimize trajectories. Any of the six active joints can play this role Finally, D1, a member of the DeLiA robot family, is simulated as a five-degrees- of-freedom parallel kinematic machine tool with the aid of commercially available software like ADAMS©.