Taking the 2- RPS/2-SPC parallel mechanism as the research object, the degree of freedom of the m- echanism is first obtained by using topological structure theory, and then the motion characteristics (2T2R) are ob- tained by configuration analysis. Secondly, the position inverse solution of parallel mechanism is carried out by u- sing spatial position and pose transformation matrix, and the inverse solution simulation of parallel mechanism is carried out by using Adams software, and the inverse solution simulation of parallel mechanism is verified by MA- TLAB software. Finally, the parameters of the influence of the parallel mechanism on the workspace are analyzed, and the specific parameters are given, and the workspace graph is obtained by using the limit boundary search alg- orithm through MATLAB software simulation, which provides the theoretical basis for the analysis of the position and pose of the parallel mechanism with less freedom.