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Aiming to improve the automatic attitude adjustment efficiency and accuracy and long-distance transfer of astronautic camera, a mobile six degrees of freedom attitude adjustment method, based on omni-directional mobile platform and 3-RPS parallel pose adjustment mechanism, was proposed. Firstly, the mathematical model and measurement coordinate system of attitude adjustment were established according to the actual application scenarios. Secondly, the current attitude of the camera and the target attitude were measured, and the attitude matrix of the current attitude relative to the target was derived according to the relationship between the measured actual attitude and the pose of each coordinate system. Thirdly, the motion parameters of each axis of the above mechanisms were inversely solved by the kinematic model. Then the motion model of the omni-directional platform and the parallel mechanism was established to realize the driving of the above motion parameters. Finally, the test verification showed that the attitude adjusting equipment was fast and accurate enough to realize the automatic flexible attitude adjustment of the large-scale camera. The moving accuracy of the omnidirectional mobile platform was within 0.3mm, and the rotating accuracy was within 0.05°, and the rod length accuracy of the parallel mechanism was within 0.5mm.