In constrained and unstructured environments, such as planetary surfaces or confined workspaces, traditional single-arm manipulators often face limitations in reachability, dexterity, and load balancing. To overcome these constraints, this work proposes a dual-arm robotic system with an integrated linear displacement mechanism, enabling coordinated manipulation, enhanced workspace flexibility, and adaptive task allocation across both arms. This article presents the kinematic modeling, workspace analysis, and static and dynamic analyses of a 5°-of-freedom (DOF) collaborative robotic arm system with integrated linear translation mechanisms, designed for rover-based manipulation and planetary exploration applications. The entire robotic system was developed both in a simulation environment and as a physical prototype. The kinematic analysis is based on the Denavit–Hartenberg (DH) methodology for the formulation of forward and inverse kinematics, while Jacobian matrix is also calculated to detect singularities and to convert cartesian into joint-space forces and torques. The workspace is determined by numerical methods and visualized, highlighting the advantages of the combined two arms with linear motions architecture. In addition, static analysis is performed to assess the mechanical stability under operational loads, as well as dynamic modeling to study the behavior of the system under time-varying forces and moments. The results confirm the suitability of the mechanism for handling demanding applications in extraterrestrial environments, combining high flexibility, large workspace and collaborative functionality.