Abstarct: Parallel robots are closed kinematic chain mechanisms developed in different forms, with complex kinematics and dynamic equations that make them difficult to control. Parallel robots with three degrees of rotational freedom are studied and paid much attention in the industry and medicine because of their high speed and good accuracy. In this thesis, parallel space robot 3PSS which has three degrees of rotational freedom and its pneumatic actuators are located on the fixed baxse will be investigated. First, the robot is simulated in SolidWorks software, inverse kinematics and forward kinematics equations are extracted from geometric analysis method, then by analyzing the speed of the robot, Jacobin matrix and singularity analysis and workspace will be determined. Then, the dynamic equations governing the system are extracted by Newton-Euler method, the obtained relationships are validated by software simulation. Finally, PID control method is used to control this robot in tracking the reference path