In order to expand the working space and reduce the overall size of the parallel robot, a multi-rotor 6-DOF parallel robot was designed, in which six SPS (S-sphercal hinge; P-prismalic pair) branch chains were used to connect the upper moving platform and sliding blocks on the fixed platform,the sliding blocks rotated around the fixed platform to change the position of the moving platform. The two coordinate systems of the moving platform and the fixed platform were established to obtain the inverse solution of the attitude of the 6-DOF parallel robot through the transformation matrix. After the attitude information of the parallel robot was obtained, each branch chain was regarded as a two-force rod and the force of each sliding block was obtained. Through the force of the sliding blocks, the important parameters of the drive design such as the torque power of the rotor of the parallel robot were obtained.The new parallel robot has the characteristics of unrestricted Z -axis rotation, greatly expanding its motion range, its structure sizes are greatly reduced compared with conventional parallel robots.