The invention discloses a parallel-connection mechanism including a suitable constraint branched chain and a compound driving branched chain. The parallel-connection mechanism comprises a fixed platform, a moving platform, a first branched chain, a second branched chain and a third branched chain, wherein the parallel-connection mechanism has a freedom degree of transitional motion at three timesand rotation at two times. The parallel-connection mechanism disclosed by the invention has the advantages that firstly, through arrangement of two groups of driving assemblies, compound driving of the branched chain is realized, so that the quantity of branched chains is reduced, interference is reduced, and a working space of the mechanism is widened; and with comparison with a conventional compound driving way such as the way of directly driving revolute pairs, the compound driving way mentioned in the invention has the advantage that the control difficulty is reduced; secondly, by adoptingcooperation between a suitable constraint active branched chain and the compound driving branched chain, the mechanism is wholly plane-symmetrical, uncontrolled errors of the moving platform can be effectively reduced, the kinematics and the kinetics performance of the plane-symmetry can be achieved, and the isotropic performance is improved; and finally, the compound driving branched chain selects a plate-shaped rod, and by comparing with a conventional telescopic rod, the plate-shaped rod adopted by the mechanism disclosed by the invention can enhance the radial rigidity of the branched chains, enhance the bearing capacity of the mechanism, and improve the motion stability.