In the production lines, the operational objectives are generally in small size and light weight. The first robot for pick-and-place operations was realized by serial kinematic mechanisms (SKMs), whose drive units were placed within the joints. This placement leads to a large volume and high inertia force. On the contrary, parallel kinematic mechanisms (PKMs) are advantageous over serial structures due to their high rigidity, high precision and better dynamic characteristics [
8,
9]. In relation to this, the most famous Delta robot [
10,
11] with only 3T for parallel architecture has been proposed by Clavel [
12]. This Delta robot, a milestone for high-speed parallel robots, has become a real commercial success with a large workspace and compact structure. Based on the configuration of Delta, a passive RUPUR chain has been adopted to realize the rotary output. This scheme has a wide range of applications, such as the ABB IRB340 FlexPicker robot [
13] and the Bosch SIGPack Systems XR22 robot. However, the serially added device may become a weak point and may lead to the lack of stiffness and short service life [
14–
16]. To avoid this disadvantage, Pierrot [
1,
17–
20] proposed a new family of 4-DOF, double-platform parallel robots called H4. The rotary output of H4 is realized by the relative movement of the two platforms. Notably, the double-platform structure may lead to structural complexity and difficulty in manufacturing. Therefore, in this work, we present a parallel robot with concise and compact structure as well as good performance.