Based on Hexapod parallel mechanisms and magnetorheological damper, a new six-axis semi-active vibration control device was presented, the problem of system structural design, Jacobian matrix analysis, modal analysis, semi-active control model have been discussed, and control algorithm research, and prototyping simulation analysis have been done. The results of theory and simulation analysis showed that the six-axis semi-active vibration control device could achieve six-axis vibration semi-active damping control; therefore, it has theoretical and application value. 