The inverse kinematics and the driving forces of a 3RPS-3SPR serial-parallel manipulator (PM) with 6 degree of freedoms (DOFs) are solved in this paper. This 3RPS-3SPR serial-PM includes a lower 3-RPS PM and an upper 3-SPR PM. First, the inverse displacement is solved based on the geometrical constraint and the dimension constraint of this PM. Second, the 9×9 and 6×6 form inverse Jacobian matrices are derived and the driving forces are solved by using principle of virtual work. Finally, the numerical example is given.

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