Abstract: In order to solve the problem of lack of large-scale hoisting equipment on the installation site and the need for self-lifting, a multi-beam satellite antenna mount based on a 6-UCU parallel mechanism was proposed. Based on the artificial bee colony algorithm (ABC), the structural parameters were optimized, so that the parallel mechanism can meet the constraints of the ratio of the limit length of the electric cylinder and the limit angle of the hook hinge during the process of realizing the large attitude angle. Moreover, a pose complementation method is designed for antenna pose adjustment, that is, three position parameters are deduced from the three attitude parameters of the antenna platform, and a motion planning strategy based on pose interpolation. Finally, the virtual simulation platform of this parallel mechanism was developed, which can realize its kinematics simulation, judge the overwork space, and have significant reference value for the engineering implementation of the parallel mechanism.