A cooking robot based on a new parallel mechanism is proposed. Firstly, analyzed the movement of the cookware during artificial cooking, and designed four basic actions of rotating the cookware, bumping the cookware, stir fry and tilting the cookware. Then according to the four basic actions, the 2RRPS/SPS parallel mechanism is designed as the working platform of the cooking robot. The analytic geometry method is used to obtain the forward and reverse solution expressions of the working platform, and the MATLAB software is used to analyze the example and exercise simulation to verify the effectiveness of the cooking robot.