A new six degrees of freedom (DOF)steel band parallel robot (SBPR) was invented to overcome the existing shortcomings (such as small work space, complicated singularity and forward solution) and broaden the application field of parallel robots. The structure, principle of SBPR and the key technologies of steel band motion pair were analyzed. The finite element models of different steel bands were established to simulate their instability and identify the instability force with different structure parameters. Based on screw theory, the mechanic models of SBPR were established to calculate the forces acting on the steel band and acquire the influences of different postures and structures, which provided theory basis for optimizing the structure and motion parameters. The results show that the steel band with arc-shaped cross section has strong ability of supporting pressure load. With the increasing of the arc angle and thickness of the steel band, the instability force increases. With the steel band length increasing, the instability force decreases. When other structure parameters are constant and the load force is 400 N, the circumcircle radius of the moving platform is 210 mm, the motion range of the moving platform along Z axis is limited by the length of steel band in the reel parts, the motion range of the moving platform along Y axis is -745-680 mm, the motion range of the moving platform along X axis is -675-675 mm, the angle of the moving platform around Z axis is between -87 ° and 87 °, the angle of the moving platform around Y axis is between -77 ° and 77 °, and the angle of the moving platform around X axis is between -90 °and 66 °.