Parallel link robot providing additional degree of freedom by wire rope

Disclosed is a parallel link robot having additional degree of freedom applied to an operation part using a wire rope. The parallel link robot according to the present invention comprises: a base part and an operation part separated from each other; three or more link parts for connecting the base part and the operation part; a posture changing tool part installed to have one or more degree of freedom relative to the operation part; and a wire actuator for driving a wire rope connected to the posture changing tool part. One end of a pair of manual links belonging to the link part is coupled to the driving link by a first rotation connection part having two or more degree of freedom, and the other end thereof is coupled to the operation part by a second rotation connection part having two or more degree of freedom. The present invention can minimize the degradation of acceleration and deceleration performance of the parallel link robot due to additionally increased load by additionally applying the degree of freedom to the posture changing tool part using the wire rope. Also, the present invention can precisely control the operation of the posture changing tool part and can increase the life of the wire rope by constantly maintaining the tension of the wire rope when the operation part operates.