The invention discloses a fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot in the technical field of robots. The fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot comprises a fixed platform, a bottom platform, a movable platform, a parallel mechanism for connecting three branched chains (2T1R) between two platforms, and a mechanism end, wherein the bottom platform is connected with the fixed platform by a movement pair 1T; a branched chain I is composed of two movement pairs, two rotating pairs with perpendicular axes, and connecting rods; a branched chain II is composed of one rotating pair, one movement pair, three rotating pairs with parallel axes, and connecting rods; the branched chain III is composed of one movement pair, a parallelogram hinge, three rotating pairs and connecting rods; the movable platform is connected with the mechanism end through the rotating pair. According to the three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism, the five movement pairs connected with the bottom platform and the mechanism end are subjected to active driving, so as to realize the three-dimensional movement, two-dimensional rotational movement and the one-to-one control for speeds of active joints and outputs of the end; the mechanism realizes movement decoupling, is fully isotropic so as to have excellent movement transmission property, and can be used as an end execution mechanism of a coordinate measuring machine.