Design and dynamic simulation of a novel 4-DOF parallel robot H4

Hee Byoung Choi, Olivier Company, François Pierrot, Atsushi Konno, Tetsuro Shibukawa, Koyo Abe, Daisuke Sato, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS™. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.

    Original languageEnglish
    Pages (from-to)798-803
    Number of pages6
    JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Issue number3
    Publication statusPublished - 2004 Mar


    • 4-DOF
    • Design
    • H4
    • Parallel Robot
    • Simulation

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering


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