The accuracy performance of industrial robots largely affects their applications in various fields. To realize the pose measurement and parameter calibration of parallel robots, a pose measurement system based on draw-wire sensors is designed. In order to meet the accuracy performance requirements, the pose measurement accuracy compensation method based on this system is proposed. Firstly, the kinematic model of the pose measurement system is established according to its mechanical structure. Secondly, the drawwire sensors error and structural parameter error of the pose measurement system are analyzed. The measurement error of the draw-wire sensor is reduced to less than 0.1mm by error fitting. Finally, the measurement accuracy and calibration effect of the posture measurement system are verified through experiments. The experimental results show that the average positioning error and attitude error of the posture measurement system after calibration are 0.216 mm and 0.055°, respectively. The proposed posture measurement system is applied to calibrate the 6 DOF Stewart parallel robot. The average pose error of the calibrated 6 DOF Stewart parallel robot is reduced from (2.706 mm, 1.067°) to (0.778 mm, 0.493°). Therefore, the proposed posture measurement system based on draw-wire sensors can satisfy the requirements of pose measurement and kinematic parameter calibration for parallel robots.