Abstract—According to pose setting ground test requirements of space station redocking manipulator end-effector, a method based on parallel mechanism is proposed to meet the demand between actuator and adapter. Firstly, Parallel mechanism of 6-DOF is designed and its working principle of pose setting is described. Secondly, mathematical models of parallel mechanism agile space, kinematic interference characteristics of actuator and adapter and structural statics are established. Finally, workspace search algorithm base on cylindrical coordinates and interference detection algorithm using space geometry are programmed by Matlab, respectively. Simulation results show that movement range of designed parallel mechanism can satisfy the demand of required pose, there is no motion interference between driving branches and adapter, mechanism has good bearing capacity, and the method is also effective.