The prototype of a new 3-DOF tripod parallel universal wrist was developed. Its structure, characteristics and applications were introduced. The inverse kinematics model was established by the vector and kinematics influence coefficient method. The schematic diagram of simulation was established through the software — MATLAB/Simulink. Based on the above model and diagram, the inverse kinematics simulation was made. The simulation curves under different initial conditions about angle, acceleration, velocity, displacement varying as time processed can intuitively reflect the kinematic relation between the parallel bars and the moving platform of this mechanism and this is valuable and significative for the further research.