In this paper, a design method that teaching and playback of motion trajectory based on the double-pole angles rotation parallel mechanical arm is introduced. Take writing as example, each stroke of the word can be fitted by the line and then the beginning and the end of the segment can be used as the teaching points. Using Siemens S7-200PLC’s counter to record the data of the encoder on the teaching point, completing the teaching. When playback, plc reads the data of the teaching points recorded and controls the input pulse of motors, uses the linear interpolation to complete playback of writing. The parallel manipulator’s structure is simple, it can easily be controlled and has rich working space and low cost.