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中的奇点问题。它分析了以消除所有奇点为目标的新型操纵系统。所考虑的执行器是对称驱动双指向系统(SADPS)。分析了一种同时用于肩部和手腕运动的SADPS关节构型。由此产生的操作系统预计将是无奇点的。研究包括四个步骤：(1)推导该操作系统的运动学方程，(2)确定该系统的雅可比矩阵，(3)确定奇异位形，(4)进行初步机械设计。灵巧性的预期改善将意味着工业机器人系统更大的制造灵活性。

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.