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In order to explore a new pipeline peristaltic mechanism and its moving mode, a new 3-URU pipeline peristaltic parallel mechanism with folding ability was proposed. Due to the spatial position relationship between the R and U of the branch motion of the mechanism can be equivalent to the Sarrus structure, the parallel mechanism can be folded, and its folding principle and folding interference were analyzed to obtain the folding ratio and verify its folding effect through simulation. The degree of freedom of the mechanism was calculated by using the screw theory, solving the positive solution of the position and through Monte Carlo method to get the working space of the agency. According to the position analysis, the creeping gait planning of the mechanism in the pipeline was carried out and the creeping gait in the pipeline was verified by the ADAMS software, the displacement curve of the two platforms and the curve of the branch chain rotation angle were obtained. It was comprehensively analyzed that the mechanism can carry out the peristaltic movement in the pipeline after expansion and had a small volume after folding, which provided a certain theoretical basis for the subsequent application of specific pipeline engineering.