Abstract: A novel 6-PUS parallel engraving machine is presented. Based on the selected mechanism type, the mecha-nism performances are analyzed in terms of the first and the second order influence coefficient matrixes. So the sizes of themechanism, which are better for all the performance indexes of both kinematics and dynamics, can be determined and therestriction due to considering only the first order influence coefficient matrix in the past is broken through. Therefore, thetheory basis for designing the mechanism size of novel engraving machine with better performances is provided.