Abstract: A systematic methodology for the selection of limbs of a 6 degrees-of-freedom(DOF) of parallel manipulator is presented.There are many types of limbs of parallel manipulator that can be used to fulfill 6DOF movement of the end-effector.For parallel manipulators,the driving joint in each limb should be on or near the fixed base,and the DOF of the para-llel mechanism formed by its limbs should be 6.Those conditions can be used to sift all the types of the limbs for the suitable ones.In this way,we can eliminate a lot of infeasible limbs and result in a set of candidate mechanisms.