The invention discloses an ultraprecise friction driving mechanism. The mechanism mainly comprises a driving part, an auxiliary support part, a pressing part and an eccentric pressing part, wherein stable and precise rotation positioning is provided by the driving part, a torque motor is directly connected with a friction driving shaft, a driving error caused by intermediate transmission links is reduced, a circular grating is connected to the other end of the driving shaft, and the angular precision of a driving wheel is measured; through the auxiliary support part, the deflection deformation of the tail end of a driven rod is reduced, the position precision of the driven rod is guaranteed, so as to achieve the effects of auxiliary support and fine-tuning positioning, wherein the displacement output by an eccentric wheel structure is converted into pressing force by a pressure reed, and a driving wheel system and a friction guide rod are pressed through a prepressing wheel system; through the eccentric pressing part, accurate displacement output can be provided for the pressure reed, the pressing force can be conveniently adjusted, and the change of the pressing force can be monitored in real time by a pressure sensor installed on an eccentric wheel driven component, so as to satisfy the controllable requirement on the pressing force.