A new type of 3-dof parallel mechanism(PM) with analytical position forward solution is proposed. The reverse dynamic equation of the PM is solved. Different from the traditional dynamic analysis using inverse kinematics, the displacement, velocity and acceleration equations of the PM are established and solved by forward kinematics.The inverse dynamic equation of the PM is constructed and solved by analyzing the forces on each link and based on Newton-Euler method.Through MATLAB and ADAMS , the inverse dynamics is verified by an example. The maximum driving force error of each actuated pair is 1.32%, 5.8% and 5.2% respectively.This paper provides a theoretical basis for the design, manufacture and application of the PM.