Based on inverse equation , the forward solution model of position is presented in this thesis through method of successive approximation , for parallel robots possess characteristic of easy inverse solution and difficult direct solution . the method is proved to be highly effective by simulation example 根据6 - sps并联机器人反解容易、正解较难的特点,本论文基于位置反解方程,通过杆长逐次逼近的思路建立了位置正解模型,并对该方法进行了实例验证。