中文摘要：

为了发展更多新型结构的并联机器人,克服传统并联机器人工作空间较小、奇异性与运动学正解分析复杂的缺点,针对并联机构运动支链结构形式,将并联机构分为杆支撑并联机构、绳牵引并联机构和钢带并联机构,并介绍了这3种并联机构的运动学原理.针对这3种并联机器人机构形式,从运动位置、工作空间、奇异位形3方面,对国内外并联机器人运动学与奇异性的研究现状进行详细的阐述.分析钢带并联机器人结构与驱动方式的特殊性,对钢带并联机器人在运动过程中由于钢带承载力有限导致失稳所带来的问题进行探讨.结果表明,并联机器人运动学与奇异性的理论研究方法还不成熟,需要从结构设计和理论2方面进行突破才能解决并联机器人发展的瓶颈问题,从而拓宽并联机器人的应用领域.

英文摘要：

In order to develop new structure parallel robots and overcome shortcomings of small work space, complicated singularity and forward solution, parallel robot was classed into three types： rigid-link parallel manipulator,wire-driven parallel manipulator and steel band parallel manipulator according to the scalable chain structure. The kinematics principles of the three types of parallel manipulators were introduced. The development of the position analysis, workspace analysis and singularity analysis about those three kinds of parallel manipulators were described in detail~ For the special characteristics of structure and driving mode of steel band parallel robot, the problems of instability caused by limited support force of steel band parallel robot in motion were discussed. The results show that research theories and methods of kinematics and singularity of parallel robot are not mature. When the structure and theory of parallel robot have been broken through, the key problems of kinematics and singularity can be resolved, and the application field can be broadened.