Aimed at three-translational parallel mechanism, the velocity Jacobian matrix is formulated on the basis of analytical method, so the velocity and acceleration of the moving platform is calculated. Then the velocity and acceleration formulas of all components’ centroids are deduced based on the vector method. The above formulas are very simple and easy to solve. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of the theoretical calculation.