A six dimensional vibration damping device is introduced which is composed of Hexapod parallel mechanism and six controllable damp units fixed on driving pairs. Firstly, the structure of the system is designed according to theory of the Hexapod mechanism. Then, Jacobian matrix and dynamics model are discussed successively. Lastly, a six dimensional vibration model is found by using ADAMS software. Through theory and simulation analysis, it has been approved that the system can be used to control six dimensional vibrations.