Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.