The Grubler-Kutzbach formula was used to calculate the freedom degree of the 3UPS-1S parallel mechanism,the moable platform,and the fixed platform coordinate system and the rotation matrix were fixed according to the robotics and mechanism theory.The forward equation and the inverse equation of pose were deduced based on the geometric relation,then the Jacobin matrix could be obtained accordingly and the forward equation and the inverse equation of velocity would be calculated.The results show that the new designed 3UPS-1S parallel mechanism can move three-dimensionally,and moves smoothly even when the moable platform supports heavy load.The forward equation and inverse equation of the parallel mechanism pose and velocity are useful to the parallel robot research.