中文摘要：

提出了一种新型烹饪并联机器人，该机器人可以实现专业厨师烹饪的动作要求。建立了机器人的位置反解运动学方程，给出驱动副和被动副的转角约束条件。基于位置反解运动学方程及其约束条件，绘制了定姿态工作空间、全姿态工作空间的轮廓图。采用两点速度法解决了雅克比矩阵中单位不一致的问题，采用和机构位姿无关的全局条件数来衡量机构的灵活性。

英文摘要：

A novel class of planar parallel robot with unsymmetrical architecture for automatic cooking is presented in this paper. The novel cooking robot can perform with four degrees of freedom （DOF） which are needed by pro- fessional chef＇s cooking operations. The inverse kinematics equations of the robot are built. The constraint conditions on the rotary angle of active joints and passive joints are given. Based on the inverse kinematics and the constraint conditions, the shapes of the translation workspace and the total orientation workspace are described. For dexterity analysis, the two point velocity method is utilized to solve the unit inhomgeneous problem in Jacobian matrix. The global conditioning index that only depend on the manipulator＇s dimensions is employed to measure the degree of deterity.