Two-degree-of-freedom parallel rotor driving device

The invention relates to a two-degree-of-freedom parallel rotor wing driving device which comprises a machine base, a movable platform and a plurality of branches, a first motor, a lead screw motor and a ball screw are fixed to the machine base, an engine is arranged on the movable platform, an output shaft of the engine is connected with a rotor wing shaft, and the rotor wing shaft penetrates through a ball sleeve arranged in the machine base to be connected with a rotor wing. An output shaft of the first motor is connected with the swing supporting plate, the two ends of the two ball rod branches are connected with the swing supporting plate and a movable platform ball pair respectively, an output shaft of the lead screw motor is connected with the ball screw, a sliding block is arranged on the ball screw, the first end of the straight rod branch is connected with the sliding block ball pair, and the second end of the straight rod branch is connected with a movable platform rotating pair. The flexible branc