The invention discloses a multiple support and double platform mechanism. The multiple support and double platform mechanism is composed of a moving platform, a fixing platform and three branched chains connected with the moving platform and the fixing platform, wherein the first branched chain and the second branched chain of the three branched chains are of the same structure, each of the first branched chain and the second branched chain is composed of a ball pair, a rotation pair, a moving pair and connection rods among the ball pair, the rotation pair and the moving pair, which are arranged from top to bottom, and the third branched chain in the three branched chains is composed of another ball pair, another two rotation pairs, a cylindrical pair and connection rods among the another ball pair, the another two rotation pairs and the cylindrical pair. The multiple support and double platform mechanism is of a parallel robot structure, and the moving platform in the parallel robot structure of the multiple support and double platform mechanism can achieve three types of movement output, and therefore the multiple support and double platform mechanism is simple in structure, easy to process and manufacture, and simple in kinematic model, facilitates kinematic calibration and control, and simultaneously comprises a small quantity of mechanism joints, and improves structural rigidity.