For most transducers, the two kinds of displacement and angular variants can not be captured at the same time. While for the unrestricted object, it often translates and rotates synchronously. For some important or special application fields, it is becoming more and more important to find a way to acquire all the six motion signals concurrently. Based on the parallel robot technology, a novel type of this kind of device is brought forth. It is composed of the end-effector, the stationary platform, and six sub-chains. It can translate along and rotate around any one of the three axes. Main structure and operation principle of this device are both described and analyzed. Measurement circuit system is designed and how to handle the twelve input signals is also explained. Finally the program flowchart and simulation examples are given.