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A set of PRS-XY Serial-Parallel PKM(Parallel Kinematic Machine) is presented in this paper. The mechanism is made up of a set of 3-PRS parallel mechanism and an X-Y table. Both the direct and inverse kinematics model are established based on the Kinematics analysis for PRS-XY platform. The numerical analysis is also implemented and the kinematics model is proved to be correct by means of numerical validation and simulation.