For uncertainty relation of the bad weather at sea oil filling process between floating bodies, it is proposed to use the 6-RUS parallel mechanism as the butt joint mechanism to realize the pipeline connection for the first time. The virtual prototype of 6-RUS parallel connection mechanism is established to realize the virtual assembly, which is based on the software of SolidWorks. Based on Simulation SolidWorks software, the finite element model of 6-RUS parallel mechanism is established, and the corresponding stress analysis cloud pictures, displacement and deformation cloud pictures are obtained, which provides a basis for further optimization of the mechanism.