It has been nearly 60 years since the introduction of the Gough–Stewart manipulator (GSM). With the advantages of superior load capacity and high precision, the GSM still plays an important role in many fields. However, the GSM has limitations such as a small workspace and complex singularities. To overcome these problems, a novel kinematically redundant parallel robot is designed with three redundant actuators added on the basis of the GSM. First, the structure of the proposed robot is introduced, and the kinematics of the proposed robot is established. Second, the workspaces of the proposed robot are analyzed, and the results show that the position workspace volume and the maximum torsion and orientation angles of the proposed robot can be improved effectively. Third, the singularities of the proposed robot and the GSM are compared based on the Jacobian matrices. Finally, the multi-parameter, multi-objective optimization is used to optimize the geometric parameters of the proposed robot, and an experimental prototype of the proposed robot is designed based on the optimization results.