The abstract A 6-DOF reconfigurable parallel platform has been designed and it can rely on a frame to implement the structure changes between the four kinds of parallel platforms. One of the structures is selected to do the kinematics analysis to establish the position, velocity and acceleration model. According to the motion characteristics of parallel platform, using two kinds of trajectory planning method that the 3-4-5 times polynomial motion law and 7 times B-spline motion law in operating space simulate its movement situation. With the same trajectory, the simulation contrasts analysis the joint velocity, acceleration and torque curves under the two kinds of methods. From the curves, it can see that the parallel platform motion joint curves by the latter law are relatively steady and low jitter, and the acceleration curves don’t have the sharp point to effectively reduce the vibration and impact in the parallel platform motion. Besides, with the optimization model, the motion consumptions of the parallel platform joint and end-effector are all decreased. Finally, the parallel platform end-effector moment acceleration curve is obtained through the prototype experiment, and the results verify that the method can reduce the motion direction acceleration to make the parallel platform motion more smooth and suppress the residual vibration.