This paper presented model-based integrated design technology for configuration design of modular 3-PRS parallel robot. The kinematics screws matrix and constraint screws matrix of the end effector were obtained based on screw theory, the constraints of the end effector were analyzed and the degree of freedom of the robot can be determined. The forward kinematics of the parallel robot was analyzed according to the geometric relationship of a kinematics chain. Three-dimension solid model of the parallel robot was designed. Afterwards, the co-simulation of the mechanical and control system of the parallel robot was studied by applying virtual prototype technology to optimize the parameters of mechanical structure and control system. The simulation results of kinematics and dynamics can be obtained, which will offer basis for developing the prototype system.