A 3Dmodel of a 2DOF spatial linkage mechanism was built using ADAMS. Kinematic analysis and simulation of the model were performed. The analysis results show that this mechanism meets the design requirements, which provides the basis for further design and control of the mechanism. The main factors that have an impact on mechanism precision subsequently were analyzed and designed. The results show that the sensitivity of the two legs' lengths ranks higher than that of the other design variables. Therefore, the precision design of the bipod is the key point to achieve mechanism precision. The study provides a theoretical foundation for the design, manufacture, assembly, and control of the mechanism.