In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and performance of the SPM are studied systematically. Firstly, the structure characteristics and DOF of this SPM are analyzed based on screw theory. Secondly, both of the inverse and forward displacements are derived by analytic formulae. Then, the Jacobian matrix of the mechanism is derived. Thirdly, the workspace of the mechanism is obtained based on the forward position analysis. Finally, the performance analysis of the mechanism is analyzed by pressure angles between limbs and some conclusions are given. © 2016