This work, entitled "Design and Implementation of 3-RRR Spherical Parallel Robot with Three Coaxial Actuators" has had the scope to analytically study the kinematics (both inverse and forward one), the workspace and the singularities of a coaxial configuration of a spherical manipulator. The complete 3D design of the robot has been realised, building it thanks to a 3D printing process called FDM Technology (fused deposition modelling). Moreover, it has been modeled a Feed-Forward Position Control, by an external closed-loop in which the motor has been considered as a black-box. In this way, motors have showed less tracking error to follow the cubic position timing law, in Matlab environment.