A telescopic differential screw mechanism based 3-DOF Parallel Manipulator system to enable differential length and omnidirectional bending is provided. The telescopic differential screw mechanism based 3-DOF Parallel Manipulator system includes a first circular rotating plate 102, a second circular rotating plate 104, three or more telescopic screw assemblies 106A-C and three or more actuators 108A-C. Each telescopic screw assembly 106 includes a pair of master screws 110, a pair of successive screws 112 and a universal joint 116. The three or more telescopic screw assemblies 106A-C are actuated differentially using the three or more actuators 108A-C to achieve omnidirectional bending with high angular rotations in a range of 0 to 75 degree.