In this paper, a 2-DOF planar parallel manipulator actuated horizontally by linear actuators is proposed. The inverse and forward kinematics can be described in closed form. The velocity equation, singularity of the manipulator and the conditioning index is investigated. In addition, the inverse dynamics problem of the device is investigated employing the Lagrange approach. The dynamic simulation is carried out. The results show that the kinematics performance and the force transmissibility are worse when the end-effecter moves near the singularity. The proposed manipulator can be applied to the field of machine tools or used as the mobile base for a spatial manipulator. The results of the paper are very useful for the design and application of the new manipulator.