To　obtain　the　Jacobian　matrix　of　parallel　robot,　based　on　the　velocity　relationship　between　two　points　on　the　mobile　platform,　a　new　expression　to　construct　the　Jacobian　matrix　of　parallel　robot　by　its　branched　chains　is　deduced.　This　method　can　be　used　for　the　automatic　generation　of　Jacobian　matrix　of　parallel　robot　or　hybrid　robot,　the　multiplication　in　the　new　expression　is　less　than　that　in　the　Jacobian　matrix　deduced　by　Monsarrat　and　Gosselin　while　the　flexible　linkages　are　omitted.　The　correctness　of　the　presented　method　is　validated　by　analyzing　the　plane　5R　parallel　robot.