The invention discloses a parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics, relates to the field of mechanics and robot technology, and includes a fixed platform, a moving platform, two first branch chains, a second branch chain and a third branch chain; The two sides of the fixed platform are respectively connected with the bottom end of the first branch chain, and the two sides of the moving platform are respectively connected with the top end of the first branch chain; one end of the fixed platform is connected with the bottom end of the second branch chain, and the moving platform One end of the fixed platform is connected with the top of the second branch chain; the other end of the fixed platform is connected with the bottom end of the third branch chain, and the other end of the moving platform is connected with the top of the third branch chain. The invention includes two different motion modes, has the advantages of large rotation angle, large bearing capacity, high rigidity, large working space, good dynamic performance, simple structure and easy control, etc.; adapts to the needs of different tasks, overcomes the traditional parallel robot's fixed degree of freedom and single sport mode.