提出研究平面并联机构的工作空间问题,并以2-DOF并联机器人为研究对象,通过建立平面2自由度冗余驱动并联机器人的结构参数与工作空间形状的函数关系,绘出了两者基于无量纲参数的工作空间二维图谱,即求出了该平面并联机器人的工作空间。对工作空间图谱进行分析,得到了结构尺寸参数对工作空间的影响规律,为该并联机器人的机构设计和轨迹规划提供了重要参考,简化了分析并联机器人工作空间的难度。 The paper studies the problem of working space of planar parallel mechanism. Taking the 2-DOF parallel robot as the research object, this paper presents the functional relationship between the structural parameters of the 2-DOF parallel driven robot and the shape of working space. Dimensional parameters of the workspace two-dimensional map, that is, the plane parallel robot to find the work space. The working space map is analyzed and the influence rule of the structure size parameter on the work space is obtained, which provides an important reference for the mechanism design and trajectory planning of the parallel robot, and simplifies the analysis of the work space of the parallel robot.