Parallel mechanism with three freedom degree of two-rotation and one-shifting

The utility model relates to a parallel mechanism with three freedom degree of two-rotation and one-shifting, which is characterized in that the kinematics model is simple, and the mechanism is easily controlled and has simple structure, high rigidity and low manufacturing cost. The utility model adopts the technical solution that the parallel mechanism comprises a parallel mechanism with three degree freedom of two-rotation and one-shifting, a movable platform, a framework, a first, a second and a third branches which are connected in parallel between the movable platform and the framework, in the three branches, each of the branches is orderly connected with a first single-degree-of-freedom kinematic pair, a second single-degree-of-freedom kinematic pair and a universal hinge from the framework to the movable platform, wherein a rotating pair is further added between the second single-degree-of-freedom kinematic pair and the universal hinge in the third branch, the axial cords of first rotation shafts of the two universal hinges in the first and the second branches are parallel to each other, the central points of three universal hinges in the three branches share the same line, the axial cord of the first rotation shaft of the universal hinge in the third branch is vertical to or parallel to the axial cords of the first rotation shafts of the two universal hinges in the first and the second branches.