According to practical requirements, a 3-SPS-S parallel manipulator mechanism was proposed to be rotation fine-tuning manipulator in shield tunneling machines. Also the kinematics of the mechanism was investigated. Furthermore, the local stiffness, local dexterity and driving force which were important factors for evaluating the performance of the mechanisms on the basis of kinematic model, inverse kinematics and Jacobian matrix were investigated. The kinematic performance of the mechanism was evaluated according to the specific requirements. The results showed that the proposed mechanism had good kinematic performances and could be used in fields like shield tunneling machines.