A novel three degree of freedom (3-DoF) 3-HSS parallel manipulator is taken as the research object. The Inverse kinematics analysis of the mechanism of parallel manipulator and its inverse solutions were obtained. The Jacobian matrix was deduced with the previous works. The workspace and boundary of the parallel manipulator were researched by adopting the Gosselin geometric programming method, that a relatively regular workspace was obtained, and the workspace of the parallel manipulator were kept continuous, without holes and shown certain symmetry. The research results can meet the design requirements of the current three dimensional (3D) printing technology, and lay a theoretical foundation for further optimization research of the parallel manipulator.