Abstract: Computing the trigonometric is a large percentage in fast computation of dynamic equations on manipulator,how to compute the trigonometric fastly is one of important tasks in it.In this paper,after introducing the CORDIC algorithm, A Bit Parallel Iterative Cordic Architecture is provided to implement the trigonometric unit,then the implementation and simulation are given,and the throughput rate and precision is also analyzed.This structure shows a trade off between area usage and maximum achievable speed,and it is easy to be implemented by VLSI.