Actuation redundancy is a means to improve the dexterity, accuracy and reliability of parallel manipulators (PKMs). Over the last decades, various novel designs and control concepts have been developed and implemented in functional prototypes. In spite this extensive research several fundamental issues still remain to be addressed. This requires test benches allowing for exible and modular setup of PKM prototypes. Aiming at agile light-weight PKMs, such a test bed should in particular enable to replace rigid by elastic links, and to implement model-based robust control concepts. In this master thesis such an experimental test platform is constructed. The designed PKM is a 2-DOF planar PKM redundantly actuated by three actuators. First its modular and exible mechanical design is shown. Afterwards the kinematics is investigated in detail. Thereby the open kinematic structure and the closed kinematic chain are discussed. The open kinematic structure is used for the dynamical model. Fully parallel manipulators are characterized by repetitive use of identical modules connecting the moving and xed platform. Therefore emphasize is given to the submodeling concept, which allows seamless integration of different modules (rigid vs. exible links). Closing the open structure the insertion of internal forces is vital. The result is a differential algebraic equation. In this form the motion equation is quite useless for inverse dynamics. To convert this equation in a proper form, two formulations are presented, the minimal coordinates formulation and the formulation in redundant coordinates. Afterwards the inverse dynamics are calculated in different formulations. Due to the solution of inverse dynamics is not unique, it is possible to increase the internal forces without dynamical effect. With this feature, it is feasible to handle second level tasks, e.g. annihilate backlash or modulate stiffness. Various model based control concepts are shown in different formulations, the augmented PD control and the computed torque control. Finally simulation results and results of the experimental platform are presented. Thereby a comparison of these results is given.