Self-Motion Analysis on A Redundant Robot with A Parallel/Series Hybrid Configuration

A redundant robot configured with a parallel base and a series manipulator is proposed in this paper. The position and orientation of end manipulator are considered as the result of the joints´ ordinal motion according to the equivalence principle, so the close analytic solution for self-motion of this redundant robot is obtained via geometrical method. The Jacobian matrices of the parallel base and the whole robot system are solved respectively. Based on this, the solution for self-motion in two classes of singular configuration is also obtained. Finally a self-motion simulation of the redundant robot is performed via software MATLAB and ADAMS to validate the algorithm