Aiming at the requirement of automatic tile paving of prefabricated components in prefabricated buildings, a new robot configuration based on parallel mechanism for tile grabbing and compacting was proposed. Firstly, the designed paving robot consisting of three branches was designed, and each of which contained two different types of actuators corresponding to the grasping and vibration working modes of the robot. Secondly, combined with the layout characteristics of the mechanism, the degree of freedom characteristics of the mechanism were analyzed, and the forward and inverse solutions for its position were derived. Thirdly, for the generalized coordinates, an equivalent motion screw was used to describe the motion characteristics of the closed-loop four-bar mechanism, and the paving robot in the vibration working mode was instantaneously equivalent to a 3-R[TX（*8]RC parallel mechanism. Finally, based on the screw algebra, the first-order and second-order influence coefficients of kinematics were derived in a concise and compact form, and the corresponding numerical examples were given to verify. The results show that the paving robot has a large working space. Combined with the vibration output of different frequencies and amplitudes, it can realize the integration of tile grabbing and compacting. The proposed tile paving robot has certain feasibility and provides reference for further research and application of automatic tile paving.