Parallel mechanism machining device

A parallel mechanism machining device supporting a movable body holding one of a main shaft for rotating a tool or a work so that the movable body can be moved relative to the other one of the main shaft or the work by a plurality of links, each link having an end connected to the movable body by adjustable joints and having another end connected to a fixed platform by adjustable joints, said device comprising:

• two first links each having one end connected substantially at a first point on the movable body;
• two second links each having one end connected substantial at a second point other than said first point on the movable body;
• a third link having an end connected to the movable body and extending substantially parallel to a straight line between said first point and said second point;
• and
• a restriction link having one end connected to the movable body and restricting a degree of freedom of movement of the movable body, wherein
• the two links of each of said first and second links extend at substantially a 90 degree angle with respect to each other to define a state in which the respective first and second links extend in a direction substantially orthogonal to the third link.