Though computer technology has brought about virtual manufacturing to expedite design and analysis through simulation and visualization, machines remain essential, as ultimately products need to be made. There is a need for equipment providing more than three degrees of freedom (DOF) arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a new 4-DOF hybrid parallel platform manipulator with ﬁxed-leg lengths and base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. It is very easy to develop a 5-axis NC machine-tool which is of large-workspace based on the 2T-2R, 4-DOF parallel mechanism presented in this paper.