This paper aims at studying the kinematic model of the 5R symmetrical parallel mechanism considering the uncertainties in the lengths of links and the clearances in the active joints. The complete kinematic model of the 5R parallel mechanism is formulated in the presence of the uncertain parameters that are model as random variables. The stochastic analysis, based on the Monte Carlo Method, permits to evaluate numerically the performance of the mechanism when the uncertain parameters are considered. Thus, the kinematic model for several poses within the workspace is evaluated. Moreover, the variability in the workspace produced by the uncertain parameters is also analyzed.