The work aims to propose a new reconfigurable 5R mechanism to change the size and location of 5R mechanism rack, and improve the adaptability of folding equipment designed based on 5R mechanism and different processing operations. The position and equivalent size of the fixed platform were changed by the screw pair, and then the reconstruction of the mechanism was realized and a new 5R parallel mechanism was obtained. The speed analysis of this mechanism was carried out with the screw theory. The expression of the velocity relation of this new 5R mechanism was obtained. The vector method and the screw theory were used to verify the results, and the results were consistent. For the velocity analysis, with explicit physical significance and uniform solution mode, the screw theory is easy to use. The kinematics analysis of the new parallel mechanism provides a theoretical basis for the optimization design, scale synthesis and dynamic analysis of the mechanism.