The inverse position kinematics of 6-DOF parallel robot is the key technology to construct the closedloop control of robot attitude. The traditional inverse kinematics can’〖KG-*2〗t be applied to the platform with connecting rod. The transformation matrix was obtained by establishing the local coordinate system of the connecting rod. A new position inverse kinematics method was presented based on the analysis of the transformation matrix. The virtual prototype model was built based on the ADAMS platform to verify the correctness of the presented method.