This paper proposes a new family of spatial 3-DOF (degree of freedom) parallel manipulators with two translational and one rotational DOFs. The manipulators in this family are the variations of the parallel manipulators, which are capable of very high rotational capability, introduced by X.-J. Liu, J. Wang, and G. Pritschow (“A new family of spatial 3-DoF fully parallel manipulators with high rotational capability,” Mech. Mach. Theory40(4), 475–494, 2005). However, compared with those old manipulators, the new parallel manipulators proposed here have the advantages of simpler kinematics and structure, easier manufacturing, and energy saving.