In　recent　years,　parallel　robots　have　become　a　hot　research　topic　in　trauma　fracture　treatment　because　of　their　high　precision,　high　load　capacity,　and　compact　structure.　However,　parallel　robots　have　disadvantages　like　small　workspaces　and　complex　singularity.　In　this　article,　a　novel　redundant　parallel　mechanism　(RPM)　for　long　bone　fracture　reduction　is　proposed　based　on　Stewart　parallel　mechanism　(SPM).　Six　kinematically　redundant　DOFs　(degrees-of-freedom)　are　added　to　the　RPM.　First,　the　kinematics　of　the　RPM　is　established,　and　its　workspace　is　calculated.　The　analysis　results　indicate　that　the　position　workspace　of　the　RPM　is　about　19　times　larger　than　that　of　the　SPM.　The　RPM　has　a　similar　range　of　torsion　angles　as　the　SPM,　but　a　more　extensive　range　of　tilt　angles　than　the　SPM.　Second,　the　singularities　of　the　two　parallel　mechanisms　are　compared　based　on　the　dimensionally　homogeneous　Jacobian　matrix.　The　results　show　that　the　dexterity　of　the　RPM　is　much　better　than　the　SPM.　Third,　a　multiparameter　multi-objective　optimization　method　is　proposed　to　optimize　the　geometry　parameters　of　the　RPM.　The　statics　of　the　RPM　is　analyzed　by　finite　element　analysis.　To　further　expand　the　performance　of　the　RPM,　the　unfixed　RPM　(URPM)　is　proposed.　The　analysis　results　show　that　the　URPM　is　superior　to　the　RPM　in　terms　of　workspace　and　dexterity.　Finally,　experiments　are　conducted　to　verify　the　effectiveness　of　the　proposed　methods　in　this　article.　Copyright　©　2023　by　ASME.