To　solve　the　problems　of　relatively　limited　workspace　and　relatively　weak　ability　to　avoid　singular　configurations　of　parallel　orthopedic　robots　in　minimally　invasive　fracture　reduction　surgery,　a　new　kinematic　redundant　parallel　mechanism　is　proposed　based　on　Gough-Stewart　parallel　mechanism　(GSPM).　The　structure　of　the　proposed　parallel　mechanism　is　introduced,　its　kinematics　and　dynamics　are　established,　and　its　workspace　is　simulated.　The　dexterity　and　singularity　of　the　GSPM　and　the　proposed　parallel　mechanism　are　analyzed　based　on　the　dimensionally　homogeneous　Jacobian　matrix.　The　multi-objective　optimization　method　is　used　to　optimize　the　geometric　parameters　of　the　proposed　parallel　mechanism.　Experiments　are　conducted　on　the　3D　printing　prototype.　It　is　shown　that,　compared　with　the　GSPM,　the　workspace　volume　of　the　proposed　parallel　mechanism　is　expanded　by　273.5　%,　and　its　dexterity　is　better,　which　verifies　the　effectiveness　of　the　simulation　and　analysis　methods.　©　2024　Chinese　Mechanical　Engineering　Society.　All　rights　reserved.