Design, implementation, and performance evaluation of a 4-DOF parallel robot

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

Original languageEnglish
Pages (from-to)107-118
Number of pages12
Issue number1
Publication statusPublished - 2010 Jan
Externally publishedYes


  • 4-DOF
  • Design
  • Parallel robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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