Because of parallel mechanism has high rigidity, high speed, high carrying capacity, and not cumulative error, etc., it has been widely used in many fields. Especially less degrees of freedom parallel mechanism has become a hot research topic. The inverse and forward position model of Tripod parallel robot was established, through kinematic analysis of the Tripod parallel robot, the degree of freedom was derived. The inverse kinematics and forward kinematics were solved by using algebraic vector method and numerical method. The condition number of Jacobian matrix was derived and the workspace was analyzed. The calculation result showed that the mechanism owned perfect isotropic properties and specious workspace. ADAMS and Matlab kinematics simulation software were used to verify the inverse and forward position model of this mechanism. The simulation results proved the correctness of the model. A model machine of Tripod parallel robot was developed and a series of experiments, such as accurate positioning, line/circle interpolation, continuous interpolation, were carried out. The results suggested that the mathematical model established for this parallel mechanism was correct. The research systemically solved the problem of theoretical analysis of Tripod parallel robot, set up the experimental prototype, and provided strong guidance for the engineering application.