To meet the demand for non-contact synchronous measurement of the large-range six-degree-of-freedom pose of a parallel robot's moving platform, a pose measurement system composed of a laser and visual components is proposed. The system utilizes image processing technology to output the two-dimensional coordinates of light spots on the detection surface, achieving precise pose measurement of parallel robot platforms through the cooperation of lasers and vision components. Subsequently, the solution method of the measurement system is studied, and the pose of the target is derived based on analytical geometry methods. Finally, experimental tests are conducted using a high-precision parallel robot. The results indicate that the system achieves a root mean square error of less than 0.1 mm in position measurement and less than 0.07° in attitude measurement. The average relative errors of position and attitude measurements are 0.76% and 2.56%, respectively. This research provides a novel and effective solution for large-stroke pose measurement technology, with broad application prospects in robotic motion control, precision manufacturing, and scientific experiments.