The three terms - mass, volume, and density - all have a mathematical relationship between each other.
The Density Formula
In the formula, d is the variable for density, m is the variable for mass, and v is the variable for volume. Basically, when you divide the mass of an object by it's volume, you get the density of that object.
Because of this, we can assume that there are two other formulas to show us how we can find the mass and volume of an object, all which using the three terms stated in the question.
Therefore, there is a mathematical relationship between mass, volume, and density.