Abstract
DELTA-4 realizes 3 degrees of freedom of translational motions by a novel redundant parallel link mechanism. These benefits can be obtained by DELTA-4 comparing with conventional parallel mechanisms: wider working area, smaller footprint and easier access to the wide range of working area from operators. In this paper, evaluation experiments of DELTA-4 are described about an accuracy of force display, a mechanical stiffness and a back drivability. In addition, an evaluation experiment of force display is presented.
