This paper takes a new-type 3-TPT 3-DOF parallel machine tool as the object of study, established the positive and negative solution of kinematic equations of the machine, and derived the Jacobian matrix and Jacobian inverse matrix of the machine tool. On this basis, the singularity and stationarity of the machine tool were researched by using Matlab and got the expression of the absolute value of Jacobian matrix determinant of the machine tool. The velocity distribution curves of telescopic driving rods of the machine tool were simulated, too. The results show that the machine tool has advantages such as good stationarity and no singularity and so on. The study provides certain theoretical basis for the structural optimum design and performance analysis of parallel machine tool.