3-UPU three translational parallel mechanism is studied with the simulation and analysis method of positive solution and inverse solution in Kinematic in order to improve the design accuracy and design efficiency of the parallel mechanism. In the ADAMS environment, the simulation curves of the positive and negative solutions of the mechanism were obtained. Using MATLAB to make its theoretical position inverse solution curve and to compare it with the position inverse solution curve obtained from the ADAMS simulation, the correctness of the position inverse solution simulation was verified. The inverse solution simulation curve was input to the parallel mechanism in the form of a spline driving function, and the position positive solution curve under the spline driving function was obtained, and compared it with the forward position solution simulation curve. The result shows that the obtained curves basically coincide with the simulation curves. the correctness of the position positive solution simulation is verified, and theoretical guidance is provided for solving the forward and inverse solution and control of the parallel mechanism.