In this paper, the 3 UPU parallel mechanism that can realize three-dimensional translational movement was taken as the study object, the kinematics, dynamics modeling, work space and dynamic simulation of which were conducted to lay the foundation for the engineering application. Through the method of geometry, we built the kinematics model of the mechanism, and meanwhile, established the dynamics model of 3-UPU parallel mechanism using the Lagrange equation method. Finally, the working space of parallel robot was established and analyzed using the optimized limit boundary search method to solve the surface area of the workspace. Under the constraint of the working space as well as the speed and acceleration, the five spline curve was used for trajectory planning, and Matlab was used for the inverse kinematics and the inverse dynamics modeling and simulation. Through the analysis of dynamics modeling simulation and work space, it was found that the mechanism had a large and symmetrical work space, and meanwhile had a relatively simple dynamic equation and a good dynamic performance. In conlusion, 3 UPU parallel mechanism has broad application prospects in industrial automation flexible packaging, handling, processing and assembling.