A parallel robot featwes low inertia moment of end effector,high mechanical rigitity,high mobility,no accumulation of motion error at end effector and high capacity of load,and it has found a wide applications in various fields such as automobile assembly line,earth-digging machine,conjuncture of aircraft and flight simulator.In this paper the kinematics of a novel style 6-HTRT Parallel Robot is studied.The algorithm for an inverse kinematic problem of the parallel robot considering the constraint condition is presented.By the use of vector cross product method,the comprehensive coefficient of the parallel mechanism is introduced and the Jacobian matrix of a 6-HTRT parallel robot is presented.The relationship between the velocity of end manipulator and the generalized velocity is also studied with the method of Jacobian matrix.Using the result of study in mechanical dimension synthesis,better performance is achieved with the parallel robot.In motion control,it will be helpful for us to simplify the control algorithm and make more efficient trajectory planning.