Abstract: In accordance with the character of parallel robot manipulator,and by dircct derivation for positioninverse sollution,the first-order and second-order influence coefficient matrices of a parallel 6-SPS ro-bot manipulator are established.And the problem of the velocity and acceleration analysis are thussolved,which lays a foundation for error and dynamic analysis.The first-order and second-order influ-ence coefficient matrices derived here are in simple and uniform expression,and are suitable for computercalculation.Finally,a numerical example is given.