A three-dimensional (3D) loading device based on a pneumatic 3-universal-prismatic-universal (UPU) parallel manipulator (three chains with UPU joint each) is designed to apply time-varying multi-dimensional loads to a target. First, according to the principle of vector superposition and Newton–Raphson method, the inverse and forward kinematics of the loading device are analyzed. Second, based on the screw theory, the static mapping between the dynamic platform and actuations is derived. Third, a second-order mathematical model is established for pneumatic 3-UPU parallel mechanism based on proportional flow valve and a metal seal pneumatic cylinder. A referential inaccurate model is provided for the control algorithm during modeling. Fourth, based on active disturbance rejection control (ADRC) technique, a 3D loading control algorithm is proposed and dynamic loading control is realized. Experimental results show that the ADRC algorithm has good robustness against disturbances, the steady-state control accuracy is less than 2 N, and the mean square error in dynamic tracking (sinusoidal tracking at 0.2 Hz) is less than 10.5 N.

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