Kinematics and dynamics analysis were conducted on the basis of a new type of 3UPU/UPS parallel robot, and the kinematics and dynamics model of the parallel robot were established. The SimMechanics module in MatLab was used to establish simulation module on the basis of previous work. According to the movement of the parallel robot to design trajectory of the moving platform, the inverse kinematics solution can generate the trajectory of each branch, and the PID controller was designed to drive the parallel robot simulation. Finally, the numerical calculation and simulation results were comparatively analyzed. The results show that the mechanical model and control established in this way are consistent with the actual system characteristics, and avoid the complex modeling process of the parallel mechanism, which have great reference meaning to other parallel mechanism.