Inverse kinematics and singularity analysis of a redundant parallel robot

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