在进行驱动同轴并联机器人构型设计时，设计者往往忽视约束奇异对机器人性能的影响。为探讨R（SS）²支链在应用于驱动同轴并联机器人机构时所产生的约束奇异现象。借助李群理论与微分流形理论的方法，对R（SS）²支链进行深入分析，并据此将其融入驱动同轴构型，设计出两种新型的驱动同轴并联机器人机构。随后，对这些机器人机构进行全面的运动类型分析、约束空间探讨以及约束奇异性的研究。通过与Delta机器人机构的对比分析，得出含有R（SS）²支链的驱动同轴并联机器人机构在约束奇异现象方面的一般性规律。结果表明：当R（SS）²支链采用驱动同轴布局时，会减弱并联机器人机构形成约束奇异的条件。研究成果为后续驱动同轴并联机器人机构在构型设计、轨迹规划以及奇异避免等方面的研究提供了重要的理论基础。

When designing the configuration of co-axial parallel robots, designers often overlook the impact of constraint singularities on robot performance. To investigate the constraint singularities that arise when R(SS)² subchains were applied to co-axis actuated parallel robot mechanisms. By employing the methodologies of Lie group theory and differential manifold theory, an in-depth analysis of the R(SS)² subchains was conducted, which informed their integration into actuation coaxial configurations, leading to the design of two novel types of co-axis actuated parallel robot mechanisms. Subsequently, a comprehensive analysis was performed on these robot mechanisms, covering their types of motion, constraint space, and constraint singularities. Comparative analysis with the Delta robot mechanism revealed general patterns regarding constraint singularities in co-axis actuated parallel robot mechanisms equipped with R(SS)² subchains. The findings indicate that the conditions for parallel robot mechanisms to form constraint singularities are mitigated when R(SS)² subchains are arranged in an actuation coaxial layout. The research results provide a crucial theoretical foundation for future studies on configuration design, trajectory planning, and singularity avoidance in co-axis actuated parallel robot mechanisms.