Two parallel mechanism having three degrees of freedom of a turn shift

The present invention relates to a parallel mechanism having three degrees of freedom two shift a turn. Object should provide a parallel mechanism having a simple forward and inverse kinematics, a larger working space, high rigidity, simple structure and easy manufacturing advantages. Technical solutions are: two parallel mechanism having three degrees of freedom of shifting a turn, and a moving platform includes a frame, characterized in that: said actuator is connected in parallel with the three four-bar mechanism between the platform and the frame; the four-bar mechanism positioned on the frame comprising a sliding pair, the movable platform and two parallel and opposite ends hinged to the slider and the sub slider moving platform link.