5-DOF (degree of freedom) parallel robot mechanism

The invention discloses a 5-DOF (degree of freedom) parallel robot mechanism, which relates to an industrial robot. The mechanism comprises a base, a moving platform and five connecting rods connected between the base and the moving platform, wherein the five connecting rods are all telescopic rods; one end of one of the five connecting rods is connected with the base by a spherical hinge, while the other end is connected with the moving platform by a rotating pair; and any of the other four connecting rods can adopt a mode that one end of each connecting rod is connected with the base by a spherical hinge, while the other end is connected with the moving platform by a universal joint, or a mode that one end of each connecting rod is connected with the base by a universal joint, while the other end is connected with the moving platform by a spherical hinge, or a mode that the ends of the connecting rods are connected with the base and the moving platform all by spherical hinges. The mechanism can realize the large-scale motions of three-dimensional movements and two-dimensional rotations of the moving platform and has small interference of part processing errors and assembling errors to the moving platform.