3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism

The invention discloses a 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism. The 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism comprises a machine base, a movable platform, a transverse shaft, three SPS type linear driving branches and two SPR type linear driving branches. The transverse shaft is connected with the movable platform through a revolute pair. The three SPS type linear driving branches and the two SPR type linear driving branches are circumferentially distributed between the machine base and the movable platform, and the two ends of each SPS type linear driving branch are connected with the movable platform and the machine base through ball pairs respectively. One ends of the two SPR type linear driving branches are connected with the two ends of the transverse shaft through revolute pairs respectively, the two revolute pairs are parallel and perpendicular to the transverse shaft, and the other ends of the two SPR type linear driving branches are connected with the machine base through ball pairs. The 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism has the advantages of being simple in structure, large in working space, high in rigidity and good in all-direction transverse-movement characteristic. Multiple five-degree-of-freedom parallel robots and devices can be assembled by connecting the moveable platform with different tools.