Organ-on-a-Chip approach makes it possible to produce vascularized organoids for pre-clinical drug studies using incubators and rockers. Automation of organoids generation is desirable to reduce human resources and increase reproducibility. However, automation requires information such as the growth status of the organoids to be recorded directly within the incubator. Hereby, avoiding regular incubator opening by including an autonomous planar parallel robotic imaging system will prevent disturbing the organoids’ growth. To avoid rotations of the miniature microscope while inspecting the different organoids-on-a-chip in the constrained incubator space, the parallel robot is constrained to two translational DoFs. Here, we present the kinematic design of the robot that fulfils the workspace requirements and space constraints inside the incubator.