The invention provides a 4UPU-UP redundant drive parallel
robot. The 4UPU-UP redundant drive parallel
robot comprises a static platform and a movable platform and further comprises four UPU drive
branch chains and a UP passive constraint chain which are connected with the static platform and the movable platform, each driving
branch chain has the same structure and comprises a moving pair I, the moving pair I serves as a driving joint, the two ends of each moving pair I are respectively connected with the static platform and the movable platform through hooke joints, the four UPU driving
branch chains are evenly distributed around the passive constraint chain, the passive constraint chain comprises a moving pair II, the moving pair II serves as a
passive joint, one end of the moving pair II is connected with the static platform through the hooke joints, and the other end of the moving pair II is fixedly connected with the movable platform. According to the 4UPU-UP redundant drive parallel
robot, the number of the driving branch chains is larger than the number of the freedom degrees of a mechanism, rigidity and
bearing capacity can be improved, no singular area exists in the interior of the
working space, the redundant driving parallel mechanism can carry out driving force optimization, meanwhile, internal force between the branch chains of the parallel mechanism is improved, and the efficiency of the mechanism output force is improved.