A large-rotation angle two-rotational and one-translational parallel mechanism, comprising a chassis, a mobile platform (1), one first branch and two second branches; the first branch comprises a chassis rotating pair, a first translational pair sliding block (13), a first translational pair guide rod (14) and a first Hooke's joint (15); a second branch comprises a second translational pair guide rail (21), a second translational pair sliding block (22) a second Hooke's joint (23), a connecting rod (24) and a mobile platform rotational pair (25); in the two second branches, first rotational pair axes of the second Hooke's joints coincide, and are also parallel to an axis of the chassis rotational pair of the first branch; in the two second branches, axes of the movable platform rotational pairs are parallel to a second rotational axis of the first Hooke's joint (15) of the first branch. The present parallel mechanism has the advantages of a large degree of rotation, simple structure, high stiffness, large carrying capacity, and good kinetic performance.
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