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A universal type 3P3R manipulator in the facility agriculture environment such as greenhouse was designed. The kinematics and dynamics of the manipulator were analyzed for operating performance and accurately motion control acquired. The Kane’s method and screw theory were applied to set up the kinematics and dynamics models, respectively. Then in accordance with the models for the manipulator and the structure of the prototype robot manipulator, the operating performance of the manipulator was studied in the Mathematica environment. The orientation variation of the end-effectors and all joint driven torques of the system were obtained according to the planning motion. The result indicates that the correctness, simplicity and validity of the model are verified. Therefore, the dynamic requirements of the manipulator are satisfied with high dexterity. And this research established a foundation for trajectory planning and accurately motion control.