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Based on the topological design theory of a parallel mechanism with orientation feature set and bending translation theory, a new parallel mechanism with circular spherical translation and one rotation (2T1R) with 3 degrees of freedom （DOF） and low coupling is designed and topological characteristics of the mechanism are analyzed, including the orientation feature set, degrees of freedom and coupling calculation. The kinematics of the mechanism is analyzed, and the forward and inverse solutions of the position of the mechanism are solved and verified. Finally, based on the positive and negative equations of the mechanism, the workspace and the rotation capacity distribution of the mechanism are analyzed. The work in this study lays the foundation for the subsequent scale optimization, error analysis and dynamics analysis of the mechanism.