Disclosed is a parallel mechanism that performs driving with at least four degrees of freedom and is capable of achieving high speed and high precision. Four rotation armatures (31-34) arranged on a fixed plate (1) drive completely in parallel and with four degrees of freedom a movable plate (2) via four peripheral drive mechanisms (41-44) having upper arms (411, 421, 431, 441) integrated with rotors of the rotation actuators (31-34), lower arms (412, 422, 432, 442) configured from parallel links, upper joints (413, 423, 433, 443) which link the upper arms and lower arms, and lower joints (414, 424, 434, 444) which link the lower arms and the movable plate (2). Two lower joints (414, 434) of the four lower joints are both configured from a revolute pair with two degrees of freedom having two joint axes that are orthogonal to one another.