Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure

The invention discloses a three-degree-of-freedom movable decoupling parallel robot mechanism with a fully-symmetrical structure. The three-degree-of-freedom movable decoupling parallel robot mechanism comprises a fixed platform, a movable platform, and three branches which connect the fixed platform with the movable platform, and is characterized in that the structures of the branches are fully the same, and the branches are symmetrically arranged on three fixed brackets which are vertical to one another of the fixed platform; the structure of each branch comprises a driving motor, a movable pair, four rotating pairs, three connecting rods and a transmission rod; the movable pairs can construct a cylindrical pair together with a first rotating pair close to the fixed platform; and the second rotating pair and the third rotating pair of which the middle axes are vertical to each other can be replaced with Hooke joints. The three-degree-of-freedom movable decoupling parallel robot mechanism is simple in structure, contributes to realizing full decoupling of three moving motions of the movable platform, has the advantages of easiness in controlling, high flexibility, high reaction speed, large working space and high bearing capability, can be applied to virtual axis coordinate measuring scribers, carving machines, high-density electronic element encapsulation, food packing and the medical industry.