In this paper we present a parsing framework for extensions of Tree Adjoining Grammars (TAG) called TuLiPA (Tuebingen Linguistic Parsing Architecture). In particular, besides TAG, the parser can process Tree-Tuple MCTAG with shared nodes (TT-MCTAG), a TAG-extension that has been proposed to deal with scrambling in free word order languages such as German. The central strategy of the parser is such that the incoming TT-MCTAG (or TAG) is transformed into an equivalent Range Concatenation Grammar (RCG) which, in turn, is then used for parsing. The RCG parser is an incremental Earley-style chart parser. In addition to the syntactic anlysis, TuLiPA computes also an underspecified semantic analysis for grammars that are equipped with semantic representations.