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A novel 4-UPS-RPU spatial 4-degree of freedom redundant actuation parallel mechanism, which can achieve two rotational DOF and two translational DOF, is introduced, and the kinematics and workspace analysis are carried out. 4-UPS-RPU parallel mechanism includes five limbs, four types of universal joint—prismatical joint—spherical joints and one type of revolution—prismatical joint—universal joint. The reverse solutions of position analysis for the parallel mechanism are presented, and the Jacobian matrix and acceleration equation are derived. The inverse position, velocity and acceleration of this parallel mechanism are solved, and on this basis, the workspace of the parallel mechanism is analyzed. The research can provide a theoretical basis foundation to promote application of 4-UPS-RPU redundant actuation parallel mechanism.