In the process of space rendezvous and docking, the accuracy of position adjustment of tracking spacecraft is an important guarantee for space docking.In order to improve the position adjustment accuracy of the tracking spacecraft, kinematics analysis of the Stewart parallel mechanism of the docking structure in the tracking spacecraft was carried out.A mathematical model for the Stewart parallel mechanism inverse kinematics solution was established, the curve of the actuator elongation change over time was obtained by using the mathematical model.The virtual prototype was built, and the completed virtual prototype model was imported into ADSMS for inverse kinematics simulation.Compared with the result obtained by mathematical analysis, the error was within 10-4 magnitude, the accuracy of the model was verified.The virtual prototype was used to carry out kinematic simulation analysis.It provides relevant theoretical basis for improving the mechanism position adjustment accuracy, dynamics analysis and control in the follow-up work