Multi-degree-of-freedom controllable parallel type mobile robot

The invention relates to a multi-degree-of-freedom controllable parallel type movable spot welding robot. The multi-degree-of-freedom controllable parallel type movable spot welding robot comprises a movable platform, four parallel controllable four-bar mechanism closed-loop actuator subchains and a serial actuator main chain. The controllable four-bar mechanism closed-loop actuator subchains controls main-chained connecting bars to move within a plane where the four-bar mechanism closed-loop subchains are located, and spatial motion of the movable platform can be realized through motions of a first connecting bar, a machine body and the movable platform. A moving function is realized through the movable platform; the robot is controlled through the synthetic motion of the four four-bar mechanism closed-loop actuator subchains and the machine body; the spatial motion of an end actuator is realized through a plurality of connecting bars and the machine body; the end actuator is small in movement inertia, good in dynamics performance and high in precision. Through the structure, the robot has motion redundancy of almost infinite work space and height, has moving and operating functions at the same time, and can act on more occasions.