Multi-motion-platform parallel robot construction method and parallel robots for same

A double-sided walking parallel robot, comprising:

• a first multi-motion-platform parallel robot;
• and
• a second multi-motion-platform parallel robot, wherein:
• the multi-motion-platform parallel robot includes an original parallel mechanism and a plurality of N1 derivative parallel mechanisms, wherein:
• each of the parallel mechanisms possesses N2 degrees-of-freedom (DOFs) and shares an identical set of DOF properties;
• N1 is an integer greater than 1;
• N2 is one of 2, 3, 4, 5 and 6;
• the original parallel mechanism includes an original base platform, an original movable platform and a plurality of N2 original chains;
• the plurality of original chains connects the original base platform and the original movable platform;
• each of the original chains includes a plurality of generalized kinematic pairs interconnected in series;
• each of the derivative parallel mechanisms includes a derivative base platform, a derivative movable platform and a plurality of (N2×N1) derivative chains;
• and the plurality of derivative chains connect the derivative base platform and the derivative movable platform;
• the multi-motion platform parallel robot is a parallel leg mechanism;
• an original parallel mechanism on the first multi-motion platform parallel robot, and an original parallel mechanism or a first derivative parallel mechanism on the second multi-motion platform parallel robot are located on a first side to form a first single-sided parallel walking robot;
• a derivative parallel mechanism on the first multi-motion platform parallel robot, and a second derivative parallel mechanism on the second multi-motion platform parallel robot are located on a second side to form a second single-sided parallel walking robot;
• and
• the first side is opposite to the second side.