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In order to realize kinetostatics analysis of spatial 4-UPS-RPS 5DOF parallel mechanism, the expression of kinetostatics was derived by d Alembert principle, and the force state of mechanism was analyzed. Firstly, the model of inverse displacement, inverse velocity and inverse acceleration of 4-UPS-RPS parallel mechanism were educed. And then, the kinetostatics model of 4-UPS-RPS 5DOF parallel mechanism was established by the d’ Alembert principle, the expression of driving force and constraining force were deduced. Finally, combined with examples, the driving force of driving limbs and constraining force of spherical hinge on moving platform were carried out by numerical calculation and virtual simulation, separately. The results of force analysis shows that the driving force of driving limbs and constraining force of spherical hinge on moving platform are varied with the position and posture of 4-UPS-RPS 5DOF parallel mechanism, and the force value obtained by numerical calculation and by virtual simulation are basically the same. So far the numerical verification and virtual simulation verification of the kinetostatics analysis results are realized. The research can not only provide theoretical basis for solution of driving force, constraining force and structure design of 4-UPS-RPS parallel mechanism, but also suggest a way of thinking about force analysis for other spatial parallel mechanism.