Parallel robot provided with wrist section having three degrees of freedom

A parallel robot comprising:

• a base section;
• a movable section capable of moving with respect to said base section;
• a movable-section drive mechanism having a parallel mechanism configuration and provided between said base section and said movable section, said movable-section drive mechanism operating to allow said movable section to perform a three-axis translational motion with respect to said base section;
• a wrist section provided in said movable section in a manner capable of changing an orientation of the wrist section;
• and
• a wrist-section drive mechanism operating to allow said wrist section to perform a three-axis orientation-changing motion with respect to said movable section,
• wherein said wrist section comprises:
• a first rotary member supported on said movable section and rotatable about a fourth rotation axis different from axes of said three-axis translational motion of said movable section;
• a second rotary member connected to said first rotary member and rotatable about a fifth rotation axis orthogonal to said fourth rotation axis;
• a third rotary member connected to said second rotary member and rotatable about a sixth rotation axis orthogonal to said fifth rotation axis;
• and
• a first input shaft member, a second input shaft member and a third input shaft member, rotatably supported on said movable section and connected respectively to said first rotary member, said second rotary member and said third rotary member through gears;
• wherein said wrist-section drive mechanism comprises:
• a first servo-motor, a second servo-motor and a third servo-motor, which are carried on said base section and respectively generate driving force to drive said wrist section for rotation;
• and
• a first transmission member, a second transmission member and a third transmission member, transmitting the driving force of said first servo-motor, said second servo-motor and said third servo-motor, respectively to said first input shaft member, said second input shaft member and said third input shaft member;
• said first servo-motor, said second servo-motor and said third servo-motor respectively driving said first rotary member, said second rotary member and said third rotary member for rotation.