The constraint equations of the 3-PSR parallel mechanism were established, and the forward and inverse kinematics solutions of the 3-PSR parallel mechanism were solved. On this basis, the velocity Jacobian matrix of the 3-PSR mechanism was solved for dynamic analysis. The dynamic model was established by using Kane method. The pose of the moving platform were taken as parameters, the force exerted on each component of the mechanism was analyzed and then converted into the equivalent driving force of three sliding blocks. By comparing the simulation results of MATLAB and ADAMS, the basic dynamic performance of the mechanism was summarized. The research results provide a reference for studying the workspace and power optimization of the mechanism.