Singularity Analysis of the Redundant Robot with the Structure of Three Consecutive Parallel Axes

摘要

A method based on matrix partitioning is presented to analyze the singularity of a redundant robot with the structure of three consecutive parallel axes. Unchanging robot singularity, an appropriate reference system and a reference point of the end-effector are chosen to simplify the analytical form of the Jacobian matrix. Thereafter, the reason why a 3 × 3 zero matrix exists in the simplified Jacobian matrix is analyzed specifically, and according to this characteristic, the Jacobian matrix is reconstructed by matrix transformation. On this basis, the Jacobian matrix is partitioned into four submatrixes whose degradation conditions will be discussed. In the light of these degradation conditions, the singularity conditions and singular directions of the redundant robot can be obtained. The correctness of the proposed singularity analysis method for the redundant robot with the structure of three consecutive parallel axes is verified through calculation examples.