**Exploiting Higher Kinematic Performance – Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms**

Mohammad H. Abedinnasab1, Yong-Jin Yoon2 and Hassan Zohoor3 *1Door To Door Company, Sharif University of Technology 2Nanyang Technological University 3Sharif University of Technology, The Academy of Sciences of IR Iran 1,3Iran 2Singapore* 
