The additive manufacturing (AM) processes require the use of multi-degree of freedom systems which unlocks the potential of AM with abilities like out of plane printing, printing with minimal support structure and better surface quality. The general 3-axis AM machines have many limitations, and the use of multi-degree of freedom systems can mitigate most of the limitations as well as provide the mechanisms with additional capabilities. 5-axis machines have the additional capacity to tilt and rotate part along with the general 3-axis motion. The machines generally contain serial mechanism for better operating workspace which lags behind parallel manipulators in terms of high stiffness and compactness. The parallel mechanisms provide better results in precision and compactness of system as compared to serial mechanisms. We propose a hybrid scissor-based parallel mechanism with a novel mechanism for planer motion. The 3 degree of freedom scissor-based parallel mechanism in conjuncture with a two degree of freedom serial manipulator gives the mechanism best of both type of manipulators. The 5 degree of freedom system provides good rigidity and work envelope. The link lengths could be fixed for a desired workspace. The proposed mechanism has the potential of printing the parts with zero support structure and high accuracy.