Parallel robot

A parallel robot, comprising:

• a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device;
• wherein the transmission device is connected to the base and comprises an output end;
• the plurality of branch chains are located between the base and the moving platform in parallel, each branch chain comprises a first end connected to the output end and a second end connected to the moving platform;
• each driving device is connected to one transmission device and is configured to drive the transmission device to move, so as to enable the transmission device to drive the branch chain to move;
• each force/torque sensor is connected to one output end and is configured to sense force and/or torque between the driving device and the output end and output the force and/or torque to the control device;
• the control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement;
• wherein the transmission device comprises a guiding element and a transmission element slidably connected to the guiding element, the output end is slidably connected to the guiding element and is connected to the transmission element and the first end, the driving device drives the transmission element to move linearly back and forth along the guiding element, the force/torque sensor is a force sensor.