The invention aims at overcoming the defects in the prior art and provides a new parallel connection robot structure. Position and pose conversion of two movement and three rotation of a workbench in a work space is achieved. The parallel connection mechanism should have the beneficial effects of overcoming the strange position and shape of the mechanism and improving the movement and force transmission performance of the mechanism. As shown by the abstract drawing, according to the overall structure of the mechanism, four branch chains are distributed between a fixed platform and a movable platform, two branch chains containing central symmetry rotating rods 2 are completely consistent in structure, two branch chains containing arc sliders are roughly the same, only the arc radiuses of the sliders is different, and when the two branch chains move on the fixed platform, the two arc sliders cannot generate interference. The parallel connection mechanism with the five freedom degrees of two movement and three rotation is simple in structure and easy to produce and machine, and can be applied to the fields of machining platforms of five axis linkage machine tools, position and pose adjustment of some important precise instruments, simulation platforms and the like.