1T2R three-degree of freedom spatial parallel mechanism

The invention relates to a 1T2R three-degree of freedom spatial parallel mechanism which comprises a mobile platform, a fixed platform, a first branch chain, a second branch chain and a third branch chain, wherein the mobile platform and the fixed platform are used for installing an actuator; the first branch chain and the second branch chain are connected between the mobile platform and the fixed platform and have the same structure; the third branch chain is different from the first branch chain and the second branch chain in structure; the first branch chain, the second branch chain and the third branch chain respectively contain an active driving motion pair and are respectively connected with the fixed platform and the mobile platform to form a spatial parallel closed loop mechanism; and the spatial parallel closed loop mechanism drives the mobile platform to move through three input motions so as to realize one-dimensional movement and two-dimensional rotation.