This paper presents a novel goniometer which is designed for use with X-ray diffraction analysis in protein crystallography. The PRIGO (Parallel Robotics Inspired Goniometer) is a 6 degree of freedom positioning device, allowing 3 translations (x, y, z) and 3 rotations (Omega, Chi, Phi) of a sample around a Tool Centre Point (T.C.P.), placed in the crystal to be scanned. The structure is a hybrid of serial and parallel kinematics. This approach allows new possibilities for sample orientation in protein crystallography.