According to the theory and method of topological structure design of parallel mechanism(PM) based on position and orientation characteristic (POC) equation, a 3-DOF asymmetric two-translation and one-rotation (2T1R) PM with zero coupling-degree and partial motion decoupling was firstly designed and analyzed, including the topological design process of the PM, and the main topological characteristics such as the degree-of-freedom and coupling degree κ. Secondly, according to the kinematic modeling method based on topological characteristics, the forward and inverse solutions of symbolic positions were found, from which the working space calculation of the PM was carried out based on the forward solution. At the same time, the position inverse equation was derived to obtain the Jacobian matrix of the PM, from which the velocity, acceleration and singularity of the PM were derived. Thirdly, the sequential single-chain method based on the principle of virtual work was used to carry out reverse dynamic modeling, and the driving force change curve of the actuated pair of the PM was obtained, the supporting reaction force of the kinematic pair at the sub-kinematic chain (SKC) connection were also obtained, which were then verified by ADAMS dynamic simulation. Finally, the potential application scenarios of this mechanism used as automatic material transfer and unloading device between conveyor belts with different heights were conceptually designed and analyzed. The research result can provide a theoretical basis for the efficient kinematics, dynamic modeling and analysis, performance optimization and prototype development of the twobranch parallel mechanism with larger rotation space and partial motion decoupling.