Abstract
In this paper, we investigate the Degree of freedom (DOF), workspace and singularity of a wall climbing hexapod robot. The robot has two typical working modes, which are the six or three legs attaching on the wall, so robot can be regarded as 6SRRR or 3SRRR parallel mechanism, respectively. First, the DOF of the robot is analyzed by the screw theory. The result indicates that two configurations of the robot possess 6-DOF, and the screw theory makes the calculation of the DOF become extremely simple. Moreover, the workspace of the robot body is studied with constraint equations, which obtains the influence of structural parameters on workspace. After that, a new simple Jacobian matrix is proposed to analyze the singularity, and obtain the singular configurations of the robot, which greatly simplifies the calculation of Jacobian matrix of the robot. Finally, by experiments to verify that the singularity analysis method is correct. The singularity analysis of this paper could be applied for effective control of the robot to avoid singular configurations.
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