A kind of robot mechanism that three translations can be achieved

The invention discloses a kind of robot mechanisms of achievable three-dimensional translating, including fixed frame, moving platform, identical three branches of structure being arranged between the fixed frame and moving platform；The branch includes rotation fork, nearly hack lever, two parallel and isometric remote hack levers and rotary shaft, the rotation fork is rotatablely connected with fixed frame, one end of the nearly hack lever and rotation fork connection, the other end and remote hack lever ball-joint, the remote hack lever and rotary shaft ball-joint, the rotary shaft and moving platform are rotatablely connected.The mechanism structure is simple, it is ingenious in design, be non-over constraint mechanism, have many advantages, such as assembly and be simple to manufacture.