Research Initiation Award: The Kinematic Analysis and Preliminary Design of Singularity-Free Manipulation Systems (REU Supplement)

这项研究解决了机器人技术中的奇点问题。 它 分析了新型的操纵系统， 消除所有的奇点。 执行机构类别 所考虑的是对称驱动的双指向 系统（SADPS）。 使用SADPS接头的配置， 肩腕关节运动的影响。 所得 操纵系统应无奇异性。 本研究包括四个步骤：（1）推导 运动学方程来描述这种操作 系统的雅可比矩阵的确定， 系统，（3）奇异位形的确定， （4）初步机械设计的开发。 的 预期的灵活性改善将意味着更大的 工业机器人系统的制造灵活性。

This research addresses singularity issues in robotics. It analyses new types of manipulation systems with the goal of eliminating all singularities. The class of actuator considered is the symmetrically actuated double pointing system (SADPS). A configuration using SADPS joints both for shoulder and wrist motion is analyzed. The resulting manipulation system is expected to be singularity free. The research comprises four steps, including (1) derivation of kinematic equations of motion for this manipulation system, (2) determination of the Jacobian matrix of the system, (3) determination of singularity configurations, and (4) development of preliminary mechanical designs. The expected improvement in dexterity would imply greater manufacturing flexibility in industrial robotic systems.