A parallel robot can be defined as a closed-loop mechanism consisting of a dynamic platform and a fixed platform connected by at least two independent kinematic chains and driven by two or more free and parallel connections.
The characteristics of parallel robot are no accumulative error and high precision; The driving device can be placed on or near the fixed platform, with light weight, high speed and good dynamic response.
(1) No accumulated error, high precision;
(2) The driving device can be placed on or near the fixed platform, so that the moving part has light weight, high speed and good dynamic response;
(3) Compact structure, high rigidity and large bearing capacity;
(4) The fully symmetric parallel mechanism has good isotropy;
(5) Small workspace;
According to these characteristics, parallel robots have been widely used in the fields that need high stiffness, high precision or large load without large workspace.
