This paper addresses the dimensional synthesis and design optimization of a three-degree-of-freedom planar U-shape fixed base 2PRP-PRR parallel manipulator to maximize its workspace. Two kinematic design solutions are proposed and their link parameters are optimized to maximize the workspace. Furthermore, accuracy analysis of the optimized manipulator configurations for the actuator inaccuracies is performed and the results are compared with the well-known planar 3PRP and 2PRP-PPR parallel configurations. © Springer International Publishing AG 2018.