Two-degree-of-freedom parallel mechanism with RPRPR closed-loop subchain

A two-degree-of-freedom parallel mechanism with an RPRPR closed-loop subchain, which comprises the RPRPR closed-loop subchain and an executive mechanism subchain. The RPRPR closed-loop subchain is capable of controlling a first rotary table to move in a plane where the RPRPR closed-loop subchain is located, and movement of the first rotary table can realize spatial two-degree-of-freedom motion of a movable platform. The spatial two-degree-of-freedom motion of the movable platform is realized by using the closed-loop subchain to control planar movement of the rotary plate, and the parallel mechanism has the advantages of compact structure and simplicity in control. All active rods are connected to a frame and can be made into light rods, and the mechanism is low in the motion inertia and high in dynamic performance.