Kinematic analysis for a T2R2 4-DOF parallel robot

In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity, workspace and dexterity are discussed in details latter.