A kinematic analysis of a 2-DOF planar parallel mechanism was taken,by which the two types of singularities and their postures were investigated.Besides,all the shapes of theoretical workspaces and the corresponding calculation formulas of inner rectangular workspace area for two inverse kinematic solution models of the mechanism were discussed in detail.Finally,a performance atlas of maximum rectangular workspace of the mechanism was obtained by a dimensionless parameter model,which converted the infinite design space of kinematic parameters into a limited design area.This method provides a valid basis for the kinematic parameters optimization of the mechanism.