Taking the 6?PTRT parallel as the research object, the pose error model of 6?PTRT parallel robot is established, the closed?loop vector method of single branch chain is used to establish the error equation based on its input and output relationship. According to the pose error model of 6?PTRT parallel robot,the mechanism error is converted into the drive rod error,the influence of the error parameters of each drive rod length on the output pose error is analyzed by using MATLAB software;the objective function of pose error correction of 6?PTRT parallel robot is established, and the adaptive weighted particle swarm optimization algorithm based on shrinkage factor is used to optimize the error parameters of each drive rod, modify the terminal pose, and improve the kinematics accuracy, which provides a theoretical basis for the dynamics, pose calibration and trajectory planning and control of 6?PTRT parallel robot.