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中文摘要：
基于运动变换的雅可比矩阵，分别研究了平面二自由度冗余并联机构和平面二自由度非冗余并联机构的三类奇异性。推导了奇异曲线方程，绘出了基于量纲一结构参数的奇异曲线簇。通过对奇异曲线簇的对比分析，说明了机构冗余性对消除奇异性的有效作用。研究结果为两种机构避免奇异性的路径规划提供了有益的参考。
英文摘要：
On the basis of Jacobian matrix of the kinematic transformation, three types of singularities of the planar 2-- DOF（degree-- of-- freedom） parallel mechanisms with redundant actuation and without redundant actuation were discussed respectively. Further the equations of singular curves were derived and the singular curve clusters were drawn in terms of some nondimensional structural parameters. By contrastive analysis of the clusters, the availability of redundancy on eliminating singularities of the parallel mechanisms was shown. The research results provide valuable references for the singularity--free path planning.
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