The invention discloses a six-degree-of-freedom parking and overturning supporting frame for an outer plate of a satellite service cabin. A tail end posture adjusting mechanism, a linkage lifting mechanism and a frame base are included; ascending is controlled through a lead screw, and high position precision is achieved; and meanwhile, the travel is added through a serial connection structure, the under-actuated design is adopted in a storing manner, the mechanism space is saved, and the mechanism cost is lowered. According to the six-degree-of-freedom parking and overturning supporting framefor the outer plate of the satellite service cabin, due to the under-actuated design, a single driving motor drives a plurality of tail end structures to rotate through different gear shafts of a gear train of gears, and it is achieved that the single driving motor drives a lifting device to perform movement and pitching action on the frame base; and besides, due to the linkage structural design,it is achieved that three lifting frames of the lifting device perform lifting movement synchronously.