Taking the 3-PPR parallel mechanism as the researching target, a particular description of the structure characteristic is presented. The working conditions of mechanism were analyzed using graphical method. The inverse positions of the parallel mechanism were solved using Euler angles attitude rotation matrix and vector method. Secondly, the positive Kinematics was solved according to the mechanical and structural features of the geometry of the structure itself and relationship among the size of the position in parallel mechanism. Finally, the results are compared and analyzed from the ADAMS and MATLAB software co-simulation of the parallel mechanism kinematics model.