Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

Abstract The kinematic redundancy is considered as a way to improve the performance of parallel mechanism. In this paper, kinematics three degree-of-freedom mechanism with (3-DOF PM-KR) and influence redundant parts on PM-KR are analyzed. Firstly, model established. inverse solutions, Jacobian matrix, workspace solved. Secondly, Since there exists redundancy, possesses fault-tolerant performance. By locking one actuating joint or two joints simultaneously, obtained. When position part changed, singularity will be changed. results show that can used avoid singularity. Finally, simulations performed prove theoretical analysis.