The invention relates to a six-freedom-degree parallel machine arm driven by tubular linear motors and a control method of the six-freedom-degree parallel machine arm. The parallel machine arm comprises a fixed platform, a movable platform, upper limiting photoelectric sensors, lower limiting photoelectric sensors, grating ruler sensors and parallel controllers. The multiple tubular linear motorsare evenly distributed between the fixed platform and the movable platform. Each tubular linear motor comprises an outer circular pipe and a drive shaft, wherein the outer circular pipe is internallyprovided with a motion cavity and a drive cavity which are in communication in the axial direction, the diameter of the motion cavity is larger than that of the drive cavity, the upper end, stretchinginto the motion cavity, of the drive shaft is provided with a limiting block, and the corresponding upper limiting photoelectric sensor and the corresponding lower limiting photoelectric sensor are correspondingly arranged at the two ends of the drive cavity. The grating ruler sensors are arranged between motor stator windings and the drive shafts. The parallel controllers are connected with theupper limiting photoelectric sensors, the lower limiting photoelectric sensors and the grating ruler sensors correspondingly and connected with the motor stator windings through motor drivers. Compared with the prior art, the six-freedom-degree parallel machine arm has the beneficial effects of being small in weight, small in size, high in motion speed and efficiency and the like.