In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators, a redundantly actuated planar parallel manipulator, the 4RRR manipulator, was examined. In the current study, three types of workspace were analyzed. In the analysis of the reachable workspace, the shape of the workspace of 4RRR PMs was illustrated, and the relationship between the parameters of parallel mechanisms (PMs) and this kind of workspace was discussed. In the analysis of the m-orientation workspace...