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Aiming to solve the complicated problem of linear driving parallel robot workspace with less study, according to the structure and kinematics model of linear driving parallel robot with the limits of the Hooke joint and the singularity to the workspace, the numerical search method was used to solve the workspace of the parallel robot with the tendency of size, shape, and symmetry of the workspace with respect to the different sets of architectural parameters chosen for the manipulator. A new approach was presented to the architecture optimization of the linear driving parallel robot based on the performance of a weighted sum of global dexterity index and a new performance index-space utility ratio (SUR), and the mathematic model of parameters optimization was set up based on the objective function of this ratio. Particle swarm optimization was used to optimize the parameters of the linear driving parallel robot, the optimal parameters were obtained based on the performance of the space utility index with the global dexterity index in different environments. This method was helpful in designing the linear driving parallel robot and other types of parallel robot. In the end, the laser tracker was used to measure the actual workspace to compare with the theoretical model, which verified the theoretical model of the workspace, laid the foundation for the subsequent optimization of the linear driving parallel robot.