UPR,UPR and SS mechanism. Two prismatic joints are actuated. Link attaching the SS is a passive one. The mechanism is expected to generate 2 DoF and satisfies the Grubblers Equation.
Details that you have provided is not sufficient to get good feedback, any way you can consider Robotic toolbox of matlab for your analysis, but it works only for serial chain not for parallel chain. Best is, do some valid assumptions and make several serial chains, then set their initial conditions to satisfies the requirement of close chain. This is little difficult task, but it works.
Best softwear for this task is Adams, but you need full version.
Refer text book of Robotic, modeling, planning and control by Siciliano,
There are many papers on parallel mechanisms. You may refer to those on inverse kinematics, forward kinematics, singularity analysis and dynamic analysis depending on what you mean by "modelling".
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