Through kinematic analysis for the 2-DOF cross belt wheel group mechanism,the forward and inverse solutions were derived by employing kinematic superimposition principle.The kinematic performance was evaluated by using the condition number of Jacobian matrix.A control system of the mechanism was developed based on the MC motion controller of Hollysys.A model machine was developed and a series of experiments,such as line/circle interpolation,drawing,were carried out.The results prove that the kinematic model established for the mechanism is correct.