The invention discloses a four-degree-of-freedom cylindrical-coordinate parallel robot with the same branched chain structure. A cylindrical platform defines a YOZ reference plane, and first rotary shafts of two first drive devices and second rotary shafts of two second drive devices are parallel to Z axis and symmetrical about the YOZ reference plane; the first rotary shafts and the second rotaryshafts are correspondingly connected with first drive arms and second drive arms; when four branched chains are a parallelogram-shaped compound chain, one of two shaft rods of each branched chain isparallel to the Z axis, and correspondingly and fixedly connected to a movable platform, and the other one of the two shaft rods of each branched chain is parallel to the Z axis, and correspondingly and fixedly connected to the corresponding first drive arm or the corresponding second drive arm; and when the four branched chains are single chains, one second shaft of two cross shafts of each branched chain is parallel to the Z axis, and correspondingly and rotationally connected to the movable platform, and the other second shaft of the two cross shafts of each branched chain is parallel to the Z axis, and correspondingly and rotationally connected to the corresponding first drive arm or the corresponding second drive arm. The parallel robot is capable of realizing a stable four-degree-of-freedom control requirement, compact in structure, and flexible to move.