The purpose of this work is the study of the kinematics of an RCRCR spatial mechanism and the design of a 3D prototype able to perform the full range of mobility allowed in theory. To achieve this, the solution of the input-output equations of the mechanism has been implemented in a commercial mathematical software (Maple) that allowed the analysis of all the aspects relevant to our task. It has been realised that driving the mechanism along the full cycle of configurations requires the alternative actuation on two different rotational pairs, which have been chosen to optimise the control of the mechanism.