Parallel link robot with additional actuator arranged at driven links

A parallel link robot, comprising:

• a base part,
• a moving part,
• three link parts which link said base part and said moving part and respectively have single degrees of freedom with respect to said base part,
• three actuators which drive said link parts, respectively, each of said link parts including a drive link which is linked with said base part and two parallel driven links which link said drive link and said moving part,
• a posture changing mechanism part which changes a posture of an element which is attached to said moving part,
• an additional actuator which is arranged between said two drive links of at least one said link part in parallel to these driven links,
• a power transmission shaft part which extends coaxially from said additional actuator and transmits the rotational drive force of said additional actuator to said posture changing mechanism part, and
• a universal joint which connects a shaft part which extends from said posture changing mechanism part and said power transmission shaft part, said universal joint being arranged in a cutaway part which is formed in a casing of said moving part and being positioned on a line connecting two intersecting points between said two driven links and said moving part,
• wherein said parallel link robot comprises a linking/reinforcing part which bypasses said universal joint and links and reinforces the two ends of the cutaway part of the casing of said moving part, and
• wherein the linking/reinforcing part extends outward from an outer surface of the casing of the moving part so as to bypass the universal joint.