The invention relates to a six-degree of freedom parallel mechanism based on different radii. The six-degree of freedom parallel mechanism comprises a static platform, a movable platform, six support frames, six upper spherical hinges, six lower spherical hinges, six direct-current motors, six branched chains and an operating rod, wherein the six support frames are fixedly connected with the static platform at the preset position; the six direct-current motors penetrate through holes in the support frames respectively and are connected with lower connecting rods of the six branched chains; upper connecting rods of the six branched chains are connected with the movable platform by the six upper spherical hinges; the upper and lower connecting rods of the six branched chains are connected with each other by the six lower spherical hinges; and the operating rod is connected with a through hole of the movable platform. According to the six-degree of freedom parallel mechanism, each branched chain can determine the spatial position of each spherical hinge on the movable platform, so that six degrees of freedom of motion of the platform can be realized by the six spherical hinges which are non-collinear; and three-dimensional force and three-dimensional moment are outputted on the movable platform, so that an interactive feeling that the three-dimensional force and the three-dimensional moment are the same as virtual force and virtual moment in virtual environment is provided for people. The six-degree of freedom parallel mechanism is force sense interactive equipment which is novel in configuration, simple in structure and high in performance.