Multi-coordinate high-speed parallel robot mechanism

The invention discloses a multi-coordinate high-speed parallel robot mechanism. The multi-coordinate high-speed parallel robot mechanism comprises a fixed frame, a supporting platform, a movable platform, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain, the second branch chain and the third branch chain are arranged between the fixed frame and the movable platform; each branch chain comprises a near frame rod and far frame rods; the third branch chain further comprises a rotary fork, the rotary fork is connected to the supporting platform in a rotating mode or a fixed mode, one end of the near frame rod is connected to the fixed frame or the rotary fork, the other end of the near frame rod is connected to the far frame rods, and the far frame rods are connected to the movable platform; and the supporting platform is connected to the fixed frame in a fixed mode or a rotary mode. The multi-coordinate high-speed parallel robot mechanism is ingenious in structure, and mechanism reconfiguration can be realized by adjusting the motion relation among components appropriately.