Abstract <p>To address the complex requirements of multi-scenario and multi-working-condition in electronic packaging and precision manufacturing, it is imperative to develop automated equipment with strong environmental adaptability and high operational stability. In response, this paper investigates and designs a novel parallel robot with multiple actuation modes. Firstly, based on existing configurations, we innovatively developed a novel parallel robot featuring eight actuation modes by introducing parallelogram auxiliary branches. A systematic analysis of its kinematic characteristics is conducted: inverse kinematic solutions for multiple actuation modes are obtained through the combined application of the projection method and the closed-loop vector method. Based on differential kinematics principles, the velocity Jacobian matrix is derived to establish the transmission relationship model between the end-effector output and input under various actuation modes. Secondly, the performance indices for dexterity, velocity, and stiffness are defined, and a multi-objective coupled optimization mathematical model that considers multiple actuation modes is established. The genetic algorithm is adopted for multi-objective parameter optimization, and finally a design solution set meeting comprehensive performance requirement is obtained. The motion performance of the optimized robot under multiple actuation modes is analyzed, which proves that the optimized robot possesses balanced comprehensive motion performance within the task workspace. Based on the optimization results, key components of this novel multi-actuation-mode parallel robot are designed and manufactured, leading to the construction of a physical prototype platform. Motion performance tests are conducted to validate the rationality of the robotic mechanism design, laying the foundation for subsequent research on multiple actuation modes control strategies.</p>