PROBLEM TO BE SOLVED: To provide a four degree-of-freedom parallel robot wherein its controllability is improved, and the degree-of-freedom for design is increased in the direction of mounting a rod member on a travelling plate by reducing the restriction for a rotation angle of a rotary portion.;SOLUTION: A travelling plate 4 is composed of: a main member (a third plate element) 41 rotatably supporting a rotary member 46; a first connecting member (a first plate element) 42 connected to the main member 41 via a first linear motion joint 44; a second connecting member (a second plate element) 43 connected to the main member 41 via a second linear motion joint 45; racks (turning means) 47, 48 arranged on the first and second connecting members 42, 43; and a pinion (turning means) 49 which is arranged on the outer periphery side of the rotary member 46 and engages with the racks 47, 48. The rotary member 46 is driven via the racks 47, 48 and the pinion 49 so as to rotate by the relative parallel movement of the first and second connecting members 42, 43.;COPYRIGHT: (C)2005,JPO&NCIPI
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