Three-degree-of-freedom parallel mechanism, parallel robot and machine tool

A three degree of freedom (DOF) parallel mechanism, comprising:

• a fixed frame and a moving platform, wherein the fixed frame comprises a fixed seat and a cylindrical body fixedly connected to the fixed seat;
• three identical limbs uniformly distributed in the cylindrical body in a circumferential direction, wherein each limb comprises a prismatic joint, a first hinge, a swing arm, a second hinge, and a third hinge which are sequentially connected;
• wherein an axis of the first hinge is perpendicular to an axis of movement of the first prismatic joint;
• an axis of the second hinge is perpendicular to, but does not intersect with the axis of the first hinge, which rotates around the axis of the first hinge;
• the third hinge has two rotational degrees of freedom;
• the third hinge comprises a first pivot and a second pivot that intersect at a right angle, wherein the second pivot rotates around an axis of the first pivot, the axis of the first pivot intersects with the axis of the second hinge at a right angle, and the second pivot rotates around the axis of the second hinge;
• and
• the second pivot of each limb is rotationally connected with the moving platform.