In order to obtain the workspace and motion characteristics of 2RPU/2SPS parallel mechanism, the position and orientation characteristic(POC)equation of topological structure was used to solve the freedom degree and POC, and the inverse solution equation of position was established by using spatial coordinate transformation method and closed vector method. Based on Monte Carlo method, the workspace was obtained by solving the inverse equation and MATLAB simulation. The results show that the workspace presents symmetric distribution due to the symmetry of the mechanism. ADAMS software was used for kinematics simulation analysis to obtain the changing curves of displacement, velocity and acceleration of the moving platform with time. The curves show periodic change. It is proved that the 2RPU/2SPS parallel mechanism has good working performance and application value