A parallel robot includes a fixed platform, a movable platform, and a plurality of links positioned in parallel between the fixed platform and the movable platform. Each link includes a first connecting member, a second connecting member, a first ball joint, and a second ball joint. The first connecting member connects to the second connecting member with a prismatic joint. The first connecting member connects to the fixed platform via the first ball joint, and the second connecting member connects to the movable platform via the second ball joint. Each of the first and second ball joints includes a ball member, a socket member, and a resilient pressing mechanism. The ball member couples with the socket member. The resilient pressing mechanism is positioned between the ball member and the socket member, applying compression to cause the ball member to tightly contact the socket member.