Based on differential kinematics vector continuous mapping relations between planar (3-DOF degree-of-freedom) fully compliant parallel manipulator and conventional parallel manipulator, topology optimal model named solid isotropic material with penalization (SIMP) is built for integrated planar 3-DOF fully compliant parallel manipulator, and solved by optimization criterion (OC) algorithm. By using Heaviside filtering technique and curve fitting method, the checkerboard and mesh dependent problems are solved, and curve contour of planar 3-DOF fully compliant parallel manipulator is built, respectively. Three-dimension model is established with SolidWorks software. Furthermore, the statics simulations of integrated planar 3-DOF fully compliant parallel manipulator are analyzed in ANSYS software. The results show that two structures have the same differential motion characteristic under the topology optimization conditions with differential kinematics vector continuous mapping relations.