Three degree of freedom parallel rotation platform mechanism with driving decoupling arrangement

The invention discloses a three degree of freedom parallel rotation platform mechanism with driving decoupling arrangement. The three degree of freedom parallel rotation platform mechanism comprises a movable platform, a fixed platform, an upper motion platform, a supporting rod and three linear driving branched chains with a same structure, wherein the three linear driving branched chains are used for connecting the movable platform and the fixed platform; one ends of the three linear driving branched chains are connected with the fixed platform through U pairs respectively; the other ends of the three linear driving branched chains are connected with the movable platform through S pairs respectively; the centers of three U pairs are uniformly arranged at the edge of the fixed platform; the centers of three S pairs are uniformly arranged at the edge of the movable platform; the upper motion platform is connected with the movable platform through an upper rotary bearing; one end of the supporting rod penetrat