Use a Bash For-Loop
Bash has a very reasonable for-loop as one of its looping constructs. You can replace the echo command below with whatever custom command you want. For example:
for file in name1 name2 name3; do
echo "${file}_R1" "${file}_R2"
done
The idea is that the loop assigns each filename to the file variable, then you append the _R1 and _R2 suffixes to them. Note that quoting may be important, and does no harm if it isn't needed, so you ought to use it as a defensive programming measure.
Use xargs for Argument Lists
If you want to read from a file instead of using the for-loop directly, you can use Bash's read builtin, but xargs is often more portable across shells. For example, the following uses flags available in the version of xargs from GNU findutils to read in arguments from a file and then append a suffix to each of them:
$ xargs --arg-file=list.txt --max-args=1 -I{} /bin/echo "{}_R1" "{}_R2"
name1_R1 name1_R2
name2_R1 name2_R2
name3_R1 name3_R2
Again, you can replace "echo" with the command line of your choice.