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Abstract—The description of the kinematics of a par allel robot is based on its structure and geometry, it means, the position and orientation of the platform is analyzed by geometric methods. In addition, it deals with temporary aspects of movement in which the produced forces or torques are not considered. When the particle of a rigid body moves along equidistant trajectories of a fixed plane the body experiences plane movement, classified into three types: translational, rotational and general plane movement; necessary to specify the movement conditions of the active variables that make up a robotic mechanism for a kinematic analysis. Therefore, the present work focuses on the mathematical development of the direct and inverse kinematics of a parallel robot of six degrees of freedom type Hexa, using some strategies such as: spatial decomposition of robot, successive approximations by numerical methods, and Matlab simulations. Results shows the validity of the analysis.