The invention discloses a multi-degree of freedom parallel mechanism type
spot welding robot. A frame, a body, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod and an end
effector are connected into four controlled four-link mechanism
closed loop actuator subchains which are connected in parallel and an
actuator main chain which is connected in series; the subchains control the connecting rods of the main chain to move in the plane in which the subchains are positioned; the
spatial motion of a platform is realized through the movement of the first connecting rod and the body. According to the
spot welding robot, the control is realized through
resultant motion of the four
closed loop subchains and the body, the
spatial motion of the end
effector is realized through the connection between the multiple connecting rods and the body, the
effector is higher in flexibility, and the
work space is larger than that of the conventional
robot; moreover, the connecting rods with hinges can be made into light rods, so that the whole mechanism is higher in dynamic performance and easy to control.