Four-degree-of-freedom parallel robot with positive solution analysis and pitching rotation

The invention relates to a four-degree-of-freedom parallel robot with positive solution analysis and pitching rotation, which belongs to the technical field of robots, and comprises a fixed platform, a movable platform, an end effector, and a first branch, a second branch and a third branch which are connected in parallel between the fixed platform and the movable platform, the first branch and the second branch are identical in structure and are symmetrically arranged. The first branch is sequentially connected with a first universal hinge parallelogram mechanism and a fourth universal hinge parallelogram mechanism of a driving arm from a fixed platform to a movable platform. The third branch is sequentially connected with a first parallelogram mechanism, a second parallelogram mechanism, a U-shaped fork, a fourth connecting short shaft and a second bearing seat from the fixed platform to the movable platform. Compared with the prior art, the robot provided by the invention has the advantages of positive sol