The pose accuracy is an important index to evaluate the performance of the robot. The establishing of an effective compensation algorithm guarantees the improvement of the robot pose accuracy. This article takes a 2TPR&2TPS parallel robot as the research object, and formulates an error model based on the positive solution. According to the error model, the influence relationship between the position parameter error of the dynamic and static platforms and the length error of the drive rod zero point on the robot end pose error is obtained. A compensation algorithm based on the inverse solution is established. The minimum value of the error function is optimized by the particle swarm algorithm, and the compensation amount of the robot′s drive rod and the pose compensation amount are achieved. The simulation shows that the average position accuracy of the robot is improved by 98. 148% , and the compensation amount of the drive rod corresponds to the ideal pose and the superposition of the driving rod length of the robot are adopted as the driving rod input of the robot for experimental verification. The experiment shows that the average position accuracy of the robot is improved by 87. 457% , and the compensation effect is remarkable.