Abstract:The forward kinematics algorithm of a common 6DOF hydraulic parallel robot is very complicated. Therefor a fast forward kinematics algorithm aimed at six degree of freedom (6DOF) hydraulic parallel robot was proposed. A numerical method was used to analyze the workspace of the 6DOF parallel robot, optimization design was carried out for the robot, and a new complex joint was designed. As compared with traditional balljoint, the structure has advantages of large scope of rotation, long service life and easy at maintenance, and etc.