A parallel robot having at least one drive device and a tool platform for coupling at least one end effector, said parallel robot being formed by a first kinematic structure and a second kinematic structure, said first kinematic structure being fixedly hinged permitting rotation thereof and said second kinematic structure being fixedly mounted and the first kinematic structure having the tool platform and the second kinematic structure having the at least one drive device and being configured to drive the first kinematic structure, said first kinematic structure and said second kinematic structure being coupled to each other via only at least one coupling joint, said first kinematic structure and said second kinematic structure having no kinematic members in common, and said at least one drive device being capable of rotating, wherein said first kinematic structure has at least two parallel kinematic chains comprising each at least one upper arm and at least one forearm, said upper arm being fixedly mounted at one end by means of a respective upper arm joint and being connected at a second end to a first end of said forearm by means of a forearm joint, and said forearm being coupled at its second end to said tool platform, wherein said second kinematic structure comprises a pre-transmission arranged between the drive device and the coupling joint, said pre-transmission comprising a crank and a connecting rod and a joint arranged between said crank and said connecting rod, and said crank being capable of rotating characterised in that for all positions of the one point on the upper arm on which the coupling joint is arranged, at least one solution for the respective position of the crank having the pre-transmission is given, and thus the vector equation P 1 M P 1 → = + P 1 P KP → = P 1 M P 1 G 8 → + P 1 G 8 P 1 KP → is fulfilled, with P 1M P 1 being the vector from rotation point (P 1M) of the fixedly mounted drive device to rotation point (P 1) of the fixedly mounted upper arm mounting; P 1 P KP being the vector from rotation point (P 1) of the fixedly mounted upper arm mounting to rotation point (P KP) of the coupling joint on the upper arm; P 1 M P 1 G 8 being the vector from rotation point (P 1M) of the fixedly mounted drive device to the rotation point (P 1G8) of the joint between crank and connecting rod; and P 1 M P 1 G 8 being the vector from rotation point (P 1G8) of the joint between crank and connecting rod to rotation point (P KP) of the coupling joint on the upper arm. wherein said first kinematic structure has at least two parallel kinematic chains comprising each at least one upper arm and at least one forearm, said upper arm being fixedly mounted at one end by means of a respective upper arm joint and being connected at a second end to a first end of said forearm by means of a forearm joint, and said forearm being coupled at its second end to said tool platform, wherein said second kinematic structure comprises a pre-transmission arranged between the drive device and the coupling joint, said pre-transmission comprising a crank and a connecting rod and a joint arranged between said crank and said connecting rod, and said crank being capable of rotating P 1M P 1 being the vector from rotation point (P 1M) of the fixedly mounted drive device to rotation point (P 1) of the fixedly mounted upper arm mounting; P 1 P KP being the vector from rotation point (P 1) of the fixedly mounted upper arm mounting to rotation point (P KP) of the coupling joint on the upper arm; P 1 M P 1 G 8 being the vector from rotation point (P 1M) of the fixedly mounted drive device to the rotation point (P 1G8) of the joint between crank and connecting rod; and P 1 M P 1 G 8 being the vector from rotation point (P 1G8) of the joint between crank and connecting rod to rotation point (P KP) of the coupling joint on the upper arm.