Study on parallel robot technology has increased over the past six decades. Parallel robot has several advantages compared to serial robot. In term of kinematic aspect, parallel robot has relatively simple calculation compared to serial robot. However, the kinematic calculation is still costly because mostly the studies in parallel robot using numerical based approach. Jacobian based method was widely used to calculate the rotation of actuator required to move the end-effector to the target position and orientation. Therefore, this study proposes an analytical based method to determine the kinematics of 6 DOF parallel robot. The end-effector was attached on the moveable platform, which is connected to the fixed platform using six independent arms. A simulation program based on the proposed algorithm was developed using Matlab. To ensure the implementability of the method, one test using a complex trajectory was performed. The result showed that the proposed algorithm could be used to calculate the rotation angle of every motor to achieve the required position of the end-effector. The implementability of the proposed method to the real 6 dof parallel robot was also tested. The verification test using two trajectories proved that the method was accurate.