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To meet the requirement of high-performance 3D printing, a three-translational (3T) parallel manipulator with simple structure and high efficiency was proposed. Firstly, in order to obtain the desired degree of freedom configuration, a topological evolution design method was proposed, that was, a parallel mechanism with 3-DOF translations and 1-DOF rotation (3T1R) was taken as the initial configuration. According to the screw theory, the degree of freedom and its properties of the mechanism were analyzed. On this basis, the moving platform was infinitely converged to a point, and the end connecting rods of the three branches were hinged at this point. Then the end hinged rod of the mechanism was redesigned. Thus, a three-translational parallel mechanism with only revolute pairs and end hinged structure was obtained. Secondly, based on the relationship between the input joint and the end articulated point, the kinematic equations of the parallel mechanism were constructed by using the geometric projection method and the closed-loop vector method, the position forward/reverse solutions were derived, and the velocity Jacobian matrix was further obtained, and then the velocity and acceleration models were formulated. Subsequently, the hierarchical slicing search algorithm was employed to predict the workspace of manipulator, and then the singularities were analyzed. To comprehensively evaluate the performance of manipulator, the dexterity, speed, load carrying capacity and stiffness performance indexes of the mechanism were analyzed, and then a multi-objective optimization design model was proposed, and the optimal dimension parameters were obtained through dimensional synthesis. Finally, trajectory tracking simulation verification was carried out by using multi-body dynamics software. The research results manifested that the parallel manipulator had a simple and compact structure and excellent performance, which laid a theoretical foundation for its subsequent prototype manufacturing and practical application in future.