Abstract: In order to make full use of the excellent dynamic performance of the parallel manipulator, this paper took task based workspace of the 3-RPS parallel manipulator as study object, selected the volume of task based workspace, local transmission index and global transmission index as the performance evaluation index, drawn the performance atlases, and used the local transmission index to evaluate and analyze the performance of the manipulator in different positions. The analysis shows that the longer the limb is, the larger the volume is; when the ratio of moving platform to static platform is 1:1, the dynamic performance of the manipulator is the best. When the rotating axis of the moving platform is perpendicular to the connecting line between the ball pairs, the performance of the manipulator decreases the least. The larger the angle needed to complete the task, the longer the limb of solid model. And the optimum strategy based on strawberry picking task of the 3-RPS parallel manipulator is obtained in the end.