The work aims to analyze and simulate the kinematic properties of the 3-UPRP parallel mechanism, to verify whether the parallel mechanism has good kinematic performance. The degree of freedom of the mechanism was calculated with the modified G-K formula and the position solution of 3-UPRP parallel mechanism was calculated by D-H method. The first order influence coefficient of 3-UPRP parallel mechanism was obtained by the virtual mechanism method. ADAMS was used to analyze the displacement, speed and acceleration of the mechanism. The position solution of the mechanism and the images of velocity and acceleration, etc. after simulation were obtained. The image curves showed periodic and regular motion. The curves had no sudden change points and break points, and its change range was stable. With better kinematic performance, the mechanism has very good application prospects in the field of packaging machinery, etc.