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Secondly, the Jacobian matrices in 2DoF pure rotation and 3DoF pure rotation modes are derived using the motion equations of the mechanism. Next, the singularity analysis, kinematic dexterity analysis, dynamic dexterity analysis, and stiffness analysis of the mechanism are carried out, respectively, and it is proved that there is no singularity in the mechanism in its workspace. Since the dexterity performance expression is a nonlinear piecewise function, the kinematic local comprehensive dexterity index and the dynamic local comprehensive dexterity index are proposed as the objects of analysis. Furthermore, the kinematic global comprehensive dexterity index, the dynamic global comprehensive dexterity index, and the global comprehensive stiffness index are proposed to carry out the multiobjective structural optimization. Finally, NSGA3 was used to complete the optimization, and the comprehensive optimal solution of the structure size was obtained.<\/jats:p>","DOI":"10.1017\/s0263574725000232","type":"journal-article","created":{"date-parts":[[2025,3,28]],"date-time":"2025-03-28T08:05:36Z","timestamp":1743149136000},"page":"1350-1372","source":"Crossref","is-referenced-by-count":1,"title":["Performance analysis and multiobjective structural optimization of 4RRR pure rotation parallel mechanism"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8493-9338","authenticated-orcid":false,"given":"Yufan","family":"He","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7938-4737","authenticated-orcid":false,"given":"Hairang","family":"Fang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haoqian","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhengxian","family":"Jin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,3,28]]},"reference":[{"key":"S0263574725000232_ref45","doi-asserted-by":"publisher","DOI":"10.1115\/1.4029808"},{"key":"S0263574725000232_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2957062"},{"key":"S0263574725000232_ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2013.12.007"},{"key":"S0263574725000232_ref13","doi-asserted-by":"publisher","DOI":"10.1590\/1679-78252937"},{"key":"S0263574725000232_ref23","doi-asserted-by":"crossref","first-page":"060914","DOI":"10.1115\/1.4055327","article-title":"Kinematic analysis and dimension optimization of a new reconfigurable parallel mechanism with 1R2T and 2R1T operation modes","volume":"14","author":"Ye","year":"2022","journal-title":"J. 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