The LARMbot is a low-cost user-oriented humanoid robot developed by the LARM2 laboratory in University of Rome Tor Vergata. This paper aims to propose a new conceptual design for the assembly of the LARMbot v3 after considering lab experiences with its components. Laboratory experiments of two subsystems of the LARMbot v2 are reported, namely arms for manipulation and torso for payload. New requirements and design problems are then identified and discussed to propose a new conceptual design for the LARMbot v3 with improved features, adopting a parallel architecture for the arm to replace the original serial mechanisms and to improve the payload and precision of the humanoid.