Aiming at a kind of new 6-DOF wind tunnel support parallel robot, using the method of D-H single-chain, and together with the method of parameters-perturbation, the motion error model of this support parallel robot used in wind tunnel was established, and simulation program based on this motion error model was made. According to six kinds of typical motion mode of wind tunnel test, six kinds of posture errors of different motion mode of this parallel support system was analyzed and error curves of typical motion mode were also get by simulation. Using the motion error models obtained from the simulation, the corresponding error controlling methods was carried during this parallel support robot components designing and assembling, and ensuring the design and manufacture accuracy of the parallel support robot reached the requirement of wind tunnel tests, and error estimation program which was similar to that of the motion error simulation was embedded in the wind tunnel test to compensate the motion errors of posture and location of tested aircraft model, and it was proved in practice that the precision of wind tunnel test data was improved.