In this paper, we present a new six degrees of freedom haptic device developed at CEA-LIST for desktop applications emphasizing quick and precise manipulation. This device relies on a light parallel architecture connecting the base of the robot to the mobile platform manipulated by the user. It is dimensioned and optimized to fit design requirements associated with Computer Aided Design or virtual sculpting. The design methodology relies on a geometric and static optimization which takes into account technological constraints associated with the main off the shelf components. The control scheme of this device is also described. Finally, feedback obtained from first integration tests are presented.