To achieve the high bio-imitability requirements, a novel jaw movement robot is proposed based on mechanical biomimetic principles. Firstly, according to the biomechanical properties of mandibular muscles, such as unsymmetrical distribution, forces in different directions and the non-coplanar joints connecting maxillary and mandible, a robot that simulates the jaw movement is built based on the 6-PUS (prismatic-universal-spherical) parallel mechanism. Then, its inverse kinematics solution equation and Jacobian matrix are derived, and the analysis of kinematics performance such as workspace, singularity and flexibility is carried out to verify the feasibility of the mechanism design. Finally, a jaw movement experiment is conducted on the platform of virtual prototype to analyze the trajectory and the drive system of the robot. And the movement trajectory of the robot obtained is compared with the real movement of the human mandibular. The results indicate that the presented jaw movement robot meets the authenticity requirements of the human mandibular movement trajectory.