The work aims to design a new type of 3RsPS parallel mechanism that can output the motion of three rotation freedom degrees coupled with three movement freedom degrees. Based on the geometric relationship of the mechanism and kinematics analysis of the connecting rod of 4R spatial mechanism, the kinematics equation of the mechanism was established. The forward and inverse kinematics solutions of the mechanism were solved by elimination method. The rotating pair of 3RPS parallel mechanism was replaced by 4R spatial mechanism, so that the structure of 3RPS parallel mechanism under the initial configuration was equivalent to that of 3RPS parallel mechanism. The highest number of equations after elimination of kinematics equation was obtained by calculation through MATLAB, and the maximum number of the forward kinematics solution was obtained. The mechanism had three freedom degrees and three movement outputs coupled with three rotation outputs. The maximum forward kinematics solutions of the mechanism were 16, consistent with the number of positive kinematics solutions of 3RPS. A new type of 3RsPS mechanism is obtained. The feature of the mechanism is that the rotation axis of Rs pair changes in space, and the output of the mechanism is three-dimensional movement accompanied by three-dimensional rotation. The motion characteristics of the mechanism have certain application value in the field of efficient packaging sorting and screening.