A computer simulation approximate approach for solving velocity and acceleration of planar 3-DOF parallel robot is presented.By using the geometric constraint

the dimension constraint

the dimension equation and the dimension driving techniques of CAD

the simulation mechanisms

the velocity simulation mechanism

and the acceleration simulation mechanism of planar 3-DOF parallel robot are created.After that

velocity

rotational speed

acceleration

and rotational acceleration of the moving platform are solved.Comparing the result of computer simulation and analytics

it is shown that the computer approximate simulation approach is fairly quick

straightforward and advantages of accuracy.