Achieving sustainability and energy efficiency in mechatronic and robotic systems represents one of the current challenges in modern industrial and manufacturing processes. In this context, the kinematic configuration of a manipulator, together with the analysis of the task location, can play a significant role in minimizing the overall energy consumption. This paper presents the workspace and energetic analysis of a planar parallel manipulator with two degrees of freedom, corresponding to two actuated prismatic joints. The kinematic and dynamic models of the considered mechanical system are derived and the influence of the relative position and orientation of the two linear axis is carried out. The results of extensive numerical simulations demonstrate the effectiveness of the proposed approach and its capability of reducing the mechanical energy consumed by the manipulator in a pick-and-place operation.