Parallel mechanisms, endowed with the advantages of high stiffness and low inertia, are often employed as the master in teleoperation operations to realize human-machine interaction and collect operator control information. However, the degrees of freedom and motion capabilities of parallel mechanisms with traditional configurations are restricted by the rigid moving platform. Therefore, the configuration synthesis of multi-degree-of-freedom parallel mechanisms was conducted, while a novel master based on an articulated moving platform was designed with the advantages of sufficient degrees of freedom, low motion inertia, large workspace, and strong force feedback capability. To address the problems of poor force-feedback performance and fatigue during prolonged operation caused by the weight of components, a spring-based gravity compensation method was proposed, where the elastic potential energy was used to eliminate fluctuations in gravitational potential energy during the operation. A simulation platform was constructed in MATLAB-Simulink, and experimental verification was conducted. The results demonstrate that the impact of component gravity on joint torques is greatly reduced and the force output capability of the mechanism is significantly enhanced.