Kinematics analysis and design of 4PC-2R parallel mechanism Fei LUAN, Aixia LI, Xiaofeng WANG, Zizheng WANG, Xinrui MEN and Bohao ZHANG JNWPU, 43 3 (2025) 437-446 Published online: 11 August 2025 DOI: 10.1051/jnwpu/20254330437