Manipulator for handsfree charging electric vehicles, comprising a first, a second and a third prismatic joint, a manipulator stage, and a first, a second and a third link assembly, wherein the first, the second and the third link assembly each comprise a first link comprising a first endpoint (804B, 805B, 806B) comprising a first joint configured for pivotally connecting the first link to the first, the second and the third prismatic joint, respectively, and a second endpoint (804C, 805C, 806C) comprising a second joint configured for pivotally connecting the first link to the manipulator stage, and wherein the first, the second and the third link assemblies are configured for preventing at least two, preferably three rotational degrees of freedom of the manipulator stage, wherein the first, the second and the third prismatic joint are configured for moving the corresponding first endpoints of the first links along a first, a second and a third trajectory, wherein at least two of the first, second and third trajectory define a first plane and wherein projections of each one of the first, the second and the third trajectory on the first plane have with respect to projections of each other one of the first, the second and the third trajectory on the first plane one of a list of: an acute angle (α, β, γ) of less than 60 degrees, preferably less than 30 degrees, more preferably less than 10 degrees and even more preferably less than 5 degrees and no angle, characterised in that the manipulator further comprises a support, wherein the first, the second and the third prismatic joints are stacked such that they do not all move independently and such that the second prismatic joint is connected to the support and the first and the third prismatic joint are connected to the support via the second prismatic joint. a first, a second and a third prismatic joint, a manipulator stage, and a first, a second and a third link assembly, wherein the first, the second and the third link assembly each comprise a first link comprising a first endpoint (804B, 805B, 806B) comprising a first joint configured for pivotally connecting the first link to the first, the second and the third prismatic joint, respectively, and a second endpoint (804C, 805C, 806C) comprising a second joint configured for pivotally connecting the first link to the manipulator stage, and a first link comprising a first endpoint (804B, 805B, 806B) comprising a first joint configured for pivotally connecting the first link to the first, the second and the third prismatic joint, respectively, and a second endpoint (804C, 805C, 806C) comprising a second joint a first endpoint (804B, 805B, 806B) comprising a first joint configured for pivotally connecting the first link to the first, the second and the third prismatic joint, respectively, and a second endpoint (804C, 805C, 806C) comprising a second joint configured for pivotally connecting the first link to the manipulator stage, and wherein the first, the second and the third link assemblies are configured for preventing at least two, preferably three rotational degrees of freedom of the manipulator stage, wherein the first, the second and the third prismatic joint are configured for moving the corresponding first endpoints of the first links along a first, a second and a third trajectory, wherein at least two of the first, second and third trajectory define a first plane and wherein projections of each one of the first, the second and the third trajectory on the first plane have with respect to projections of each other one of the first, the second and the third trajectory on the first plane one of a list of: an acute angle (α, β, γ) of less than 60 degrees, preferably less than 30 degrees, more preferably less than 10 degrees and even more preferably less than 5 degrees and no angle, characterised in that the manipulator further comprises a support, wherein the first, the second and the third prismatic joints are stacked such that they do not all move independently and such that the second prismatic joint is connected to the support and the first and the third prismatic joint are connected to the support via the second prismatic joint.