This paper presents a new method for kinematic modeling and analysis of a six degree-of-free¬dom (DOF) parallel robot enclosed by a number of rigid sliding panels, called panel en¬closed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable ge-ometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached via an extra link to the base and platform of a driving mechanism. Through this modeling and analysis, non-linear formulations are adopted to optimize orientations adjacent sliding panels during motion over the workspace of the mechanism. This method will help design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. The effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.