This article presents the design and analysis of a seriesparallel hybrid mechanism. The mechanism has two stages which consist of a fixed base, an intermediate mobile platform and a mobile end-effector. Each stage is connected by three tension springs and a universal joint in the center. By correlating to a 3-SPS-U architecture, the geometrical equations for the mechanism are generated in the Euler space. To simplify the computations, the Tilt & Torsion space is employed for the analysis of the mechanism. A stability analysis is carried out initially to identify the optimum design parameters of the mechanism in the static mode. By employing algebraic methods, the singularity analysis of the mechanism is then carried out to generate the workspace and identify the tilt limits of the hybrid mechanism. A mapping equation which demonstrates the relation between the Tilt & Torsion angles and the Euler angles is then presented using the results of singularity analysis and numerical simulations. The mechanism under study is then proposed to be integrated on a piping inspection robot for passing through elbows and T-sections.