The invention provides a multi-freedom degree controllable mechanism type mobile stacking robot. The stacking robot comprises a moveable platform, a rotary machine frame, an arm lifting mechanism, a tail end executor translation keeping mechanism and a flanged disc, wherein the rotary machine frame is connected to the moveable platform through a rotary pair; the arm lifting mechanism comprises a big arm, a small arm, a first driving rod, a first connecting rod, a second connecting rod, a third connecting rod, a second driving rod and a fourth connecting rod; each rod is connected through a hinge; the tail end executor translation keeping mechanism comprises a parallelogram mechanism consisting of a big arm, a first auxiliary connecting rod, a triangular auxiliary frame and a rotary machine frame and a parallelogram mechanism consisting of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and a tail end executor translation keeper. The stacking robot is high in bearing capacity, large in working space and flexible in operation, intelligence and numerical control can be realized under the driving control of a servo motor, and the stacking robot is compact in structure, high in rigidity and better in reliability and dynamic stability.