The invention discloses a double stator direct drive permanent magnet motor and its parallel robot structure. The motor comprises a rotor, stators, a brake assembly and a bearing structure. The rotor includes a moving shaft and permanent magnets. The middle part of the moving shaft is provided with an output shaft located in the permanent magnet; the stators are arranged at the two ends of the moving shaft, and each stator comprises a stator core and a stator winding. The stator core is sleeved on the circumference of the rotor. The stator winding is arranged in the stator core groove. The stators are opposite to the permanent magnet and are separated from the permanent magnet by air gaps. The parallel robot structure includes a fixed platform, a driven arm, a joint bearing, a middle shaft tube, and a moving platform. The middle shaft tube is flexibly connected with the fixed platform and the moving platform through the joint bearing. The circumference of the fixed platform is fixedly connected with three double stator direct drive permanent magnet motors. The circumference of the moving platform is articulated with three manipulation arms. The other ends of the manipulation arms are articulated with the output shaft.