A robot based on parallelogram principle comprises a base (1) and the base (1) is provided with a main shaft (3) which can rotate horizontally. One end of the main shaft (3) is provided with a main shaft servo motor (5) driving the main shaft (3) to rotate. The other end of the main shaft (3) is connected with a swinging arm component. The main shaft servo motor (5) drives the main shaft (3) to rotate, and then drives the swinging arm component to swing circumferentially around the main shaft (3). The free end of the swinging arm component is connected with a gripper (12) for gripping the workpiece. The swinging arm component comprises a first swinging arm component and a second swinging arm component which are mutually hinged together. By means of making the two groups of swinging arm components mutually hinged end to end, each group forms a two-parallelogram hinged structure, such that the workpiece gripped by the gripper (12) can be maintained in a horizontal state during the robot operation and the stability of the workpiece gripped can be improved.
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