A novel structure model of 2-RRC/1-RRS parallel manipulator mechanism was proposed for the screening of agricultural materials, and its kinematics and dynamic characteristics were studied. Firstly, based on the motion characteristics of each branch chain in the 2-RRC/1-RRS parallel manipulator mechanism, the manipulator structure characteristics and the coupling relationship between the motion variables were analyzed. Secondly, the kinematics of the 2-RRC/1-RRS parallel mechanism was deduced, and the analytical expression of the inverse kinematics of the robot was given. Then based on the discussion of kinetic energy and potential energy of the 2-RRC/1-RRS parallel manipulator, the dynamic equation of the manipulator was derived by Lagrange equation method of classical mechanics. Finally, the dynamic characteristics of the 2-RRC/1-RRS parallel manipulator mechanism, such as motion parameters, driving torque and energy consumption, were discussed by an example. The results showed that the parameters of moment of inertia in the dynamics equation of the 2-RRC/1-RRS parallel manipulator system were closely related to the structure size of the manipulator, the mass size and mass distribution of each component, and the motion configuration of the manipulator, so as to determine the kinematics and dynamics characteristics of the 2-RRC/1-RRS parallel manipulator. The research content was of great significance to deeply understand the kinematics and dynamic characteristics of 2-RRC/1-RRS parallel manipulator, as well as the structural optimization design and the high-precision control of the manipulator, which can provide an idea for the innovative design of new equipment for agricultural material screening.