Abstract:Solving forward displacement is the difficulty of the 6SPS parallel kinematics calculations,to make sure solving forward displacement easily,kinematic simulation was made adding a initial multiDOF drive to the 6SPS parallel mechanisms moving platform in the ADAMS environment,simulation of inverse kinematics solution was got and a theoretical inverse kinematics solution in the MATLAB environment was obtained,the correctness of simulation of inverse solution was proved.The inverse simulation position be used as input parameters to drive this parallel mechanism,by the solving forward displacement,the results show that the forward displacement is consist with the initialDOFdriven values,indicate it is correct.It proves the use of these methods can be simply and easily calculate the required 6-SPS parallel mechanism positive solution,which can provide the reference of such institutions solving forward position and control.