Parallel Linkage Mechanism and Industrial Robot

An industrial robot, comprising:

• a parallel linkage mechanism, and
• an end effector,
• wherein the parallel linkage mechanism includes:
• a support member;
• a connection joint;
• a first arm interconnecting the support member and the connection joint, the first arm including a first intermediate joint and a first driving link interconnecting the support member and the first intermediate joint;
• a first actuator arranged to drive the first driving link to rotate relative to the support member around a first axis;
• a second arm interconnecting the support member and the connection joint in parallel with the first arm, the second arm including a second intermediate joint and a second driving link interconnecting the support member and the second intermediate joint;
• and
• a second actuator arranged to drive the second driving link to rotate relative to the support member around a second axis, the second axis and the first axis defining a reference plane;
• wherein the parallel linkage mechanism is configured to adopt a state in which the first driving link and the second driving link are crossed, the connection joint is positioned on a primary side of the reference plane, and the first and second intermediate joints are positioned on an opposite, secondary side of the reference plane.