In this paper, a novel 6-DOF precise parallel robotwith architecture of HTRT is presented. The robot, driven by aAC servo motor, consists of a moving platform, a base platformand six identical chains connecting the two platforms. A Hookejoint, which is composed of a cross centre axle and four specificball bearings without inner circle pivot, is used to rectify thestructural backlash. Control system of the robot is introduced.Also control strategy of precise positioning is proposed in thecontrol system. Inverse kinematic solution, Jacobin matrix,workspace, and Dexterity of the end-effector are discussed. Theexperiments of fiber alignment and optical assembly validate thefeasibility of the parallel robot in precise operating fields.