In view of the performance requirements of three dimensional（3D）printing rapid prototyping technology, a kind of 3D print parallel robot based on a 3-UPU three degrees of freedom (3-DOF) type is proposed. The kinematics analysis of 3UPU parallel robot manipulator was carried out, and the error direct model of the parallel mechanism was established with considering the effects between the elastic deformation errors of driving rod length and the backlash error of hinge. The frequency distribution of the moving platform end in precision was analyzed by using the Monte-Carlo method and required probability of the allowable precision in respect was obtained, which provide the important theoretical basis to improve the end output precision of the 3D print robot of parallel mechanism. The mainstream technology in the manufacturing industry, has important research significance and application promotion value for the rapid development.