<p>This work deals with the kinematic design and trajectory tracking control of a parallel Schönflies motion generator. Prior to optimal design of the manipulator structure, the inverse/forward position problem are solved, and motion/force transmission of the manipulator is analyzed by making use of the Jacobian matrices, from which two pressure angles are defined to form an evaluation index that is applied in the structural design. Taking the joint flexibility and wire elasticity, the coupled rigid-flexible dynamic equation of the manipulator is derived with the two-inertia system, which is deployed in the model-based control design. Torque feedforward control is adopted and numerical simulation shows that the elastic responses in the both joint and Cartesian spaces can be significantly reduced as well as the residual vibrations, which verifies the effectiveness of the designed control law in enhanced positioning accuracy and active vibration suppression. The major contribution of this work lies in the structural design of a parallel Schönflies motion generator with low dynamic inertia and better utilization of shop-floor space.</p>