中文摘要：

首先运用速度为优化等速函数曲线的轨迹规划方法，在笛卡尔空间对平面5R并联机器人进行了运动学轨迹规划，得到了平滑、连续的输出角位移、角速度和角加速度曲线。其次运用Simulink／SimMechanics对该机构进行了正向运动学仿真，理论上验证了该轨迹规划方法的正确与可行性。最后基于轨迹规划和运动学仿真，对样机进行了运动控制实验研究，发现样机运行平稳，无冲击振动，位置精度较高，达到了轨迹规划的要求。

英文摘要：

Firstly, the traiectory planning of planar 5R parallel manipulator is proceeded in cartesian space by applying the trajectory planning method of velocity optimization constant function curve, then continuous and smooth angular displacement, angular velocity and angle acceleration curves of output are got. And then forward kinematics simulation is performed by using Simulink/SimMeehanics software to verify the correctness and feasibility of this trajectory planning method. Finally, based on this traiectory planning method and kinematic simulation, the kinematic control experiment research is conducted. The prototype moves smoothly without shock vibration, and has high position precision. Thus the requirements of trajectory planning are reached.