A ne'ui driving mech,anism for holonomic ornwi- directional mobile robots is designzed, ,which enu.bles 3 DOF motion control by three correspondent actuators in, (I decozipled ma'nner ,with no redundan,cy. A proto- type of the omni-drrectional mobile robot with th,e driu- ing mechanism is developed including a parallel link suspemion m,echanism. The kinematics of th.e omni- directionsal mobile robot is also analyzed, and simula- tion fo,r velocity control of the robot is perform.ed by od for ,oelocity modulation with in,terpolation. to uchieve the given target position and velocity.