This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel $2SP\u0331S+SP\u0331R+SP$ parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint, and an optimum orientation of revolute joint is determined. Second, the inverse displacement is analyzed, and the formulas are derived for solving general inverse/forward velocities and accelerations. Third, the geometric constraints of constrained forces are determined and the formulas are derived for solving the active/constrained forces.