关键词: 并联机构, 冗余驱动, 奇异位形

Abstract: The singularity of spatial parallel mechanism and its elimination using actuation redundancy are described. Based on Park’s classification of singularities, this paper presents the explicit reason of removal singularities by actuation redundancy. The near strictly mathematical derivation between the number of actuators and the dimensional reduction of singularities is drawn. In addition, the singularity analysis of a 3-DOF parallel mechanism is carried out and the shape of singular space is derived. Also, the effectiveness of this singularity removing is studied. The results verify the relation between actuation redundancy and singularity reduction, which provides a reference for further improving the performance of parallel mechanisms.

Key words: parallel mechanism, actuation redundancy, singularity