Aiming at recycling the vibration energy for vehicle suspensions, a new energy regenerative suspension model with a lower-mobility parallel mechanism is proposed. This mechanism can transform the suspension"s vertical vibration to one-dimensional rotation which could drive an alternator to regenerate the energy. Utilizing the screw theory, we firstly analyzed the degree of freedom for this mechanism. Then according to the branched chain constraints, the inverse and forward kinematics constraint equations are deduced using the transformation formula and the Newton iterative method respectively. Thus four groups of positive-inverse displacement analysis were obtained. Besides the position calculations, the speed analyses for the links were also carried out by a simplified projection approach. And the general expressions of the rotation period of the parallel mechanism were obtained. And the simulation curves of the constraint reactions were given by the change of the mechanism’s position and posture. Finally, three simulations with sine, step and random inputs are performed in ADAMS for validation.