The purpose of this thesis is to propose a new concept based on tethered satellites systems, emphasizing their unique advantages in orbital applications. The solution showed in this research its composed of two parts: a spinning closed tethered satellite formation and a cable driven parallel robot anchored with cables on each satellite. The idea is to have a spin that stabilize the tethered formation maintaining its shape, serving as a support frame for the CDPR able to move in the inner area described by the formation, allowing objects manipulation in a limited workspace