The invention relates to a parallel numerical control machine tool and an executing mechanism for a robot with a parallel structure. The invention aims at providing the mechanism with two vertical intersecting rotating shafts, and has the advantages of being simple in structure, convenient to manufacture and install, simple in a kinematics model, easy to calibrate and control. The mechanism has the technical scheme that the three-DOF parallel mechanism with the two vertical intersecting rotating shafts comprises a movable platform, a stander and thee independent elastic adjusting branches which are connected between the movable platform and the stander in parallel. The mechanism is characterized in that the axis of an external rotating shaft of a universal hinge in a first branch is collinear with that of an external rotating shaft of a universal hinge in a second branch; and the axis of a first revolute pair in a third branch, the axis of the external rotating shaft of the universal hinge in the first branch, and the axis of the external rotating shaft of the universal hinge in the second branch are collinear with one another, or the axis of the first revolute pair in the third branch is perpendicular to the external rotating shaft of the universal hinge in the first branch and the collinear axis of the external rotating shaft of the universal hinge in the second branch.