A novel 3 degree of freedom（1-Translation and 2-Rotation）parallel mechanisms is proposed.The forward solution and inverse solution of the mechanism position analysis are given.The influences of the three input variables on the three outputvariables are studied

the variation trend of input and outputvariables are analyzed carefully and the ideal value ranges of input and output variables are determined by discussing structural parameter.The results show that the mechanism is simple in structure

can realize one translation and two rotation output

and a solid foundation formechanical structure design and kinematics trajectory control of the mechanism is provided.