Novel two-degree-of-freedom manipulator mechanism

The invention discloses a novel two-degree-of-freedom manipulator mechanism. The mechanism comprises five connecting rods (1-5), five pulleys (6-10) and a steel wire rope (11), wherein a connecting rod (1) is a manipulator static platform; a pulley (8) is a movable platform; connecting rods (2 and 5) are manipulator driving arms; connecting rods (3 and 4) are driven arms; all connecting rods are connected through revolving pairs; pulleys (6 and 10) are fixedly connected with the static platform (1); pulleys (7, 8 and 9) respectively form compound hinges with connected connecting rods; the steel wire rope (11) winds the pulleys (6-10); the steel wire rope (11) and the pulley (6 and 10) do not do relative motion; and various tools can be mounted on the movable platform (8). According to the two-degree-of-freedom manipulator mechanism, two-degree-of-freedom motion of the movable platform (8) is realized through the rotation of the two driving arms (2 and 5).