The invention discloses a device which is applied to medical mechanical products for precision surgeries and minimally invasive surgeries and the like and other occasions requiring to realize two compound motion modes (macroscopic motion and fine motion adjustment). The device is composed of a working space adjusting mechanism, a 3-DOF (degree of freedom) fine motion mechanism and a 3-translational-motion parallel mechanism, and can realize the motion output of a 3PUU (three-prismatic-universal-universal) mechanism and a 3UPU (three-universal-prismatic- universal) mechanism. A rack (1) of a main body part and a movable operator platform (22) are connected by three branch chains. The structures of the branch chains are exactly same, in case of taking one branch chain for example, from the rack (1), the branch chain connects a spherical swinging block I (3), a sliding channel I (6), a slide block I (9), a hooke hinge I (13), a linear driver I (16), a hooke hinge IV (19) and the movable operator platform (22) together, thereby realizing the function of the whole device. In the process of realizing the motion output of a 3-DOF parallel mechanism, the linear driver I(16), a linear driver II (17) and a linear driver III (18) are the driving devices of the mechanism, and the linear drive-mode input is realized in a hydraulic or ball-screw mode; in the process of realizing the motion output of the 3-DOF fine motion mechanism, the slide block I (9), a slide block II (10) and a slide block II (11) are the driving devices of the mechanism, and the linear drive-mode input is realized in a ball-screw mode; and in the process of realizing the function of the working space adjusting mechanism, an adjusting nut (23) is the driving device of the mechanism, and the rotary drive-mode input is realized through a servo motor.