Traditional three-axis machine tools used for additive manufacturing are used for three linear motions. There are limitations associated with these machines; by utilizing the capabilities of more than three axes, these limitations can be overcome. A five-axis machine tool is better in terms of having the capabilities for tilting and rotation, as compared to three three-axis machine, in addition to the general three-axis motion. The parallel mechanisms offer better stiffness and compactness as compared to serial mechanisms, but parallel mechanisms lag in operating workspace; the operating workspace for a serial mechanism machine is larger than parallel mechanism machine. The scissor mechanism is a precise parallel mechanism that can be utilized as a machine tool for additive manufacturing. A hybrid scissor-based parallel mechanism is proposed, consisting of a novel mechanism for a planar mechanism. The three-degree-of-freedom scissor-based parallel mechanism is connected with a two-degree-of-freedom serial manipulator on the top, which imparts the benefits of both serial and parallel mechanisms. The hybrid system provides a good operating workspace and rigidity. The link length for the scissor arm can be decided according to the requirement of the workspace. The force analysis has been done to understand the load acting on the joints. The complete five-degree-of-freedom hybrid mechanism can print parts without a support structure and with good accuracy.