The utility model relates to a 6 degree-of-freedom (6 DOF) parallel robot with few branched chains. The 6 DOF parallel robot comprises a moving platform, a static platform and four active moving branched chains, wherein each branched chain is connected between the moving platform and the static platform; three branched chains in the four branched chains have the same structure, serve as external active moving branched chains and are axially symmetrically distributed in space, and the other branched chain serves as a middle active moving branched chain; and the four branched chains mutually cooperate to realize spatial 6 DOF movement of the moving platform. The robot disclosed by the utility model has the advantages of large working space and high flexibility; as few branched chains are adopted, interference among the branched chains is reduced; meanwhile, the characteristics of high rigidity and great bearing ability of the parallel robot self are reserved; and the 6 DOF parallel robot is suitable for processing equipment, industrial robots and motion simulators used during mechanical development and manufacturing.