A two dimensional rotating movement of the three-dimensional five DOF Parallel Mechanisms

The present invention relates to the field of robotics and machine building, in particular a two-dimensional three-dimensional rotational movement of five degrees of freedom parallel robot mechanism, comprising a base (4) and a movable platform (9), wherein the movable platform (9) and the base (4 ) driven by the branch structure of five identical type and a constraint RUS branch connected. One inventive two-dimensional rotation of the three-dimensional movement with five degrees of freedom parallel robot mechanism completely symmetrical structure, kinematics, inverse solution is simple, clear motion form, can achieve two-dimensional space is rotated three-dimensional movement.