The kinematics and dynamics characteristics of Chinese medical massage manipulation, such as pressing, kneading, rolling and pushing are studied. Based on the results of this analysis, the serial mechanical arm with six rotational joints and the end actuator with 3-DOF parallel mechanism are selected, and a new type of hybrid massage robot is proposed. The kinematic equation of the robot is set up through the D-H transformation matrix in D-H coordinate system. The direct and inverse kinematic solutions of the mechanical arm are calculated. Through the introduction of the arm-shaped mark, the inverse solution becomes unique. This shows that this mechanical arm can be in good control. The virtual prototype of this mechanical arm is built by Pro/E, and it is input to ADAMS from Mechanical/Pro. The movement simulation of the virtual prototype shows that the kinematic equation of the robot is right and this kind of hybrid massage robot can simulate the massage manipulation with very well smooth movement characteristics.