The work aims to analyze and simulate the kinematic properties of a new type of 3-PUPU parallel mechanism with 6-DOF, to verify whether the parallel mechanism has good kinematic performance. Firstly, the degree of freedom of the 3-PUPU mechanism was analyzed by the helix theory. The degree of freedom was calculated by the modified (GK) formula. Then, the Jacobian matrix was used to study the kinematic parameters of velocity and acceleration of execution end and main component nodes of the 3-PUPU mechanism. Finally, the model established by Solidworks software was imported into ADAMS software for displacement, velocity and acceleration analysis. The curves of all parameters obtained by ADAMS periodically changed. The curves had no sudden change points and break points, and its change range was stable. The kinematic performance of 3-PUPU parallel mechanism is superior with strong reliability.