The invention discloses a massage robot actuating mechanism, and relates to the field of medical machines. A main mechanism is formed by serially connecting two translational guide rails with a five degree-of-freedom mechanical arm, a two degree-of-freedom parallel mechanism comprising a translational mechanism and a rotary mechanism, and a crank rocker mechanism. The massage robot actuating mechanism comprises a sliding pair A (16) of the two translational guide rails, a sliding pair B (17) of the two translational guide rails, a fixed platform (14), a moving platform (9), the parallel mechanism and a planer rocker mechanism. The two translational guide rails are matched with the two degree-of-freedom parallel mechanism comprising the translational mechanism and the rotary mechanism and the crank rocker mechanism to complete actions such as rolling, pressing, rubbing, vibrating and patting in massage manipulation together. The mechanism has the advantages of simple and compact structure, high rigidity, flexible rotation, good dynamic performance, large pivot angle of the moving platform, low degree of freedom, simple kinematics analysis and easy real-time control.