A four degrees of freedom (d.o.f.) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six d.o.f bicycle simulator. The platform essentially consists of two parts: the three d.o.f. parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three d.o.f. parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared: the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.