In view of the performance requirements of 3D printing rapid prototyping technology, a kind of 3D print based on a 3PUU type three degrees of freedom was proposed. The kinematics of 3PUU parallel robot manipulator was carried out to solve the inverse equation of the parallel manipulator, and the motion trajectory was planned by using “S type curve deceleration” algorithm, then the 3PUU parallel manipulator dynamics model was established based on SimMechanics. The dynamic simulation of the parallel mechanism was carried by PID controller, and each branch chain of displacement, velocity, acceleration and driving force curves were obtained under the planning trajectory. The research shows that the parallel mechanism has good movement and dynamics performance, it can be used as automobile, aircraft, medical appliance parts of prints, the mainstream technology in the manufacturing industry.