中文摘要：

为了探讨一种平面二自由度冗余驱动并联机器人机构的工作空间和奇异位形与结构参数的关系,利用几何法详细分析了机器人机构的可达工作空间,给出了可达工作空间形状与杆件尺寸之间的关系。利用解析法讨论了机构的奇异位形发生的数学条件,以及如何求解奇异轨迹或奇异点,并给出了奇异位形与杆件尺寸之间的关系。

英文摘要：

In order to discuss the relationship between the workspace and dimensional parameters of a planar 2-DOF parallel manipulator with actuation redundancy,a reachable workspace was firstly analyzed by geometrical method in detail,and the relationship between reachable workspace and link length was obtained.The mathematical conditions of which the singular configuration of the manipulator occured and the analytical method of singular track or singular loci was obtained.