Three-degree-of-freedom serial-parallel rotating platform mechanism comprising slewing driving branched chain

A three-degree-of-freedom serial-parallel rotating platform mechanism comprising a slewing driving branched chain comprises a parallel mechanism and a slewing mechanism, wherein the parallel mechanism comprises a fixed platform, a moving platform, three linear driving branched chains which adopt identical structures and connect the fixed platform with the moving platform as well as a constraint branched chain; two ends of each linear driving branched chain are connected with the fixed platform and the moving platform respectively, one end of a fixed bearing rod of the constraint branched chain is connected with the center of the fixed platform, and the other end of the fixed bearing rod is connected with the center of the moving platform; the slewing mechanism comprises an RRS slewing driving branched chain, an upper movement platform and a lower movement platform, slewing bearings are arranged between the upper movement platform and the moving platform and between the lower movement platform and the fixed pl