Inverse kinematics and singularity analysis of a redundant parallel robot

Abstract

The 3C (computer, communications, consumer electronics) industry belongs to labor-intensive and the requirements of the 3C industry are precisely high. The parallel robot is a good choice to replace human labor to manufacture these products. This paper presents a new 3- redundant parallel mechanism for 3C manufacturing. Firstly, some advantages of redundant parallel robots in the current industrial demand are discussed. Then, the inverse kinematics of the redundant parallel manipulator is analyzed according to the closed-loop equation, the inverse displacement problem is solved. The machine is simple and low cost, and as a less freedom robot, it has a higher precision than the traditional robot and has a broad prospect for 3C manufacturing. Finally, the Jacobian matrix of the redundant parallel manipulator was calculated and established by the inverse kinematics formula, and three kinds of the singularity of the mechanism were analyzed by the Jacobian matrix, which are the forward singularity, reverse singularity, mixed singularity respectively.