This article addresses the development of a shape memory alloy (SMA) spring actuation-based three degrees of freedom 1PRR (prismatic-revolute-revolute) 2PRP (prismatic-revolute-prismatic) PPM (planar parallel manipulator), where the first leg of the mechanism having PRR joint configuration and rest two limbs are PRP configuration. The shape memory alloy springs are considered as the active prismatic actuators. The proposed mechanism has a parallel structure consisting of base and a mobile platform positioned in the XY plane. The mobile platform and the base are connected together by three legs, includes one prismatic-revolute-revolute (PRR) and two prismatic-revolute-prismatic joint configurations where each leg has one active translational joint made of shape memory alloy spring (SMAS). The inverse and forward kinematic solutions of the 1PRR 2PRP manipulator have been derived. The importance and application of SMA actuators instead of highly bulky linear actuators have been studied. There has also been provided an experimental investigation of the actuation of the SMA springs (SMAs) in the context of driving the mechanism. From the experimental outputs, it was shown that the SMA actuation-based 1PRR 2PRP planar parallel manipulator has a higher workspace to area ratio as the three active linear SMA actuators actuate properly and in same time. Hence, this work presents the SMA spring actuation-based 1PRR 2PRP planar parallel manipulator is a superior alternative to conventional manipulators for precise tracking and positioning applications.