In order to satisfy the request of highspeed and highaccuracy of LED（lightemitting diode） packaging machines,a type of planar 2DOF parallel manipulator(2PPa) was designed. The manipulator consists of a moving platform and two identical subchains. Each subchain is made of a prismatic joint (actuator) and a parallelogram with four passive revolute joints. Kinematic model of the manipulator was derived. The geometric parameters of the manipulator was determined,and its dynamic model was established based on EulerLagrange formulation.A numerical example was provided to simulate and analyze the relationship between velocity, acceleration and driving torque of joints by the given path planning. The result shows that the velocity changes, the acceleration and torque of two joints are large. They are in the same direction.