Concerned about a 5DOF parallel manipulator of 4UPSUPU, its kinematics mathematical model and Jacobian matrix were established. The Global Conditions Index (GCI) and the Global Gradient Index which represented the evaluation index of dexterity were introduced in considering the kinematics performance over the whole workspace of the manipulator. The workspace was solved by using the boundary limit research method of cylindrical coordinate, and the mathematical model of the global condition number was established. The multiobjective optimization research was conducted on the basis of the multidisciplinary design optimization software Isight. The manipulator was optimized by using the Design of Experiment (DOE) and the Particle Swarm Optimization Algorithm (PSOA), achieving the Pareto solutions. Moreover the optimal solution was chosen from the multioptimal solutions in a reasonable manner. Through the comparison of results before and after optimization, the kinematics performance of the manipulator is enhanced, which provides reference for the multiple objectives optimal design of parallel manipulator.