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The three-translation and one-rotation (3T1R) parallel manipulator with zero coupling (κ=0) and motion decoupling is not only simple in kinematics and dynamics analysis, but also easy in control. Therefore, its research and development has attracted much attention. Firstly, a novel 3T1R parallel mechanism was designed according to the topological design theory of parallel mechanism based on the position and orientation characteristic (POC) equations and principle of avoiding singularity by using redundant actuation limb. Secondly, the topological structure of POC was analyzed, including POC set, degree of freedom, motion decoupling and coupling degree analysis, which showed that the coupling degree was zero, which had partial motion decoupling. Then, according to the kinematics modeling principle based on the ordered single opened chain (SOC) method proposed by the author, the forward kinematic solution of the parallel mechanism was solved. Thirdly, based on the derived inverse kinematic solution, the workspace, rotational capacity and singularity conditions of the mechanism were analyzed. Meanwhile, the law of velocity and acceleration of the moving platform was given. The curves of velocity and acceleration were given by ADAMS and the numerical values were verified by Matlab based on the derived formulas. The research laid a theoretical foundation for the mechanical design of parallel manipulator, dynamic analysis and prototype development.