Abstract: For a developed 6 degree-of-freedom robot with 2, 3 and 4-axis parallelled to each other, a forward kinematics equation of the robot was acquired by establishing the link coordinate system and transformation matrix with D-H(Denavit-Hartenberg) method. Based on the idea of matrix inversion, the inverse kinematics calculation method of 6 degree-of-freedom robot was proposed, and all analytical solutions of the inverse kinematics were obtained. According to the singularity of the robot, the processing method of the inverse solution of the singular position was proposed, the forward kinematics model and inverse kinematics solution were verified by Robotics Toolbox in MATLAB software. The research results provide a basis for later trajectory planning and control of the robot, and it is a reference for the kinematics of the robot with similar structure.