Three-degree-of-freedom clamping actuator

The invention discloses a three-degree-of-freedom clamping actuator. The three-degree-of-freedom clamping actuator comprises four spheres, four support columns, a platform body, a first power mechanism, a telescopic mechanism, a rotary mechanism, an actuating mechanism and a controller. The four support columns are fixedly connected with the platform body; the four spheres and the four support columns form sphere pairs respectively; the four support columns are installed below the platform body; the first power mechanism is located above the platform body and provides power for the telescopicmechanism; the telescopic mechanism is located above the platform body and drives the actuating mechanism to move front and back; the rotary mechanism is located above the telescopic mechanism and controls the actuating mechanism to rotate; and the actuating mechanism is located above the telescopic mechanism, and the controller is installed on the side face of the platform body. The three-degree-of-freedom clamping actua