This　paper　proposes　a　novel　redundantly　actuated　parallel　manipulator　(RAPM)　with　a　topology　of　2UPR&1RPS&1RPU,　which　is　expected　to　be　designed　as　a　three-degree-of-freedom　spindle　to　construct　5-axis　hybrid　machining　units.　First,　the　mobility　of　the　RAPM　is　calculated　by　using　screw　theory,　which　indicates　that　the　RAPM　possesses　two　rotational　and　one　translational　motion　capabilities.　By　removing　a　redundantly　actuated　limb　from　the　chain　system,　four　non-redundantly　actuated　forms　can　be　obtained.　Second,　an　inverse　position　analysis　and　the　singularity　analysis　is　carried　out　to　reveal　the　reachable　workspaces　of　the　RAPM　and　its　non-redundantly　actuated　forms.　It　is　proved　the　reachable　workspace　of　an　RAPM　is　the　intersection　set　of　the　reachable　workspaces　of　its　non-redundantly　actuated　forms.　Third,　a　set　of　new　kinematic　indices　are　proposed　to　evaluate　the　RAPM＇s　dexterity.　With　this　index　framework,　the　dexterity　of　the　RAPM　and　its　non-redundantly　actuated　forms　are　obtained　and　compared,　showing　that　the　RAPM　has　better　dexterity　and　more　uniform　distribution　than　its　non-redundantly　actuated　forms　throughout　the　reachable　workspace.　Last,　two　types　of　5-axis　hybrid　machining　units　that　incorporate　the　proposed　RAPM　are　constructed　to　implement　high-speed　machining　for　large-scale　components　and　small　precision　parts.　(C)　2019　Elsevier　Ltd.　All　rights　reserved.