A novel fully-isotropic translational parallel robot is presented,which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly,the analysis of kinematical problems of the robot are performed and the equations about position,velocity and acceleration are established. Then the friction forces/torques of the actuated prismatic pairs and the spherical joints are discussed based on the " Coulomb + Viscous" friction model. The dynamics models of the actuated pairs,the kinematical chains and the moving platform are set up respectively by using the Newton-Euler method. The mapping relationship between the driving force of the actuated pairs and the external force applied on the platform is explored. Finally,dynamics simulation of the parallel robot is completed based on ADAMS and MATLAB software and the driving force curves of the actuated joints are given. Simulation results show that the theoretical analysis is correct and effective. The proposed parallel mechanism has widely potential applications in end-effectors of the agricultural robots,industrial robots.