冗余驱动消除并联机构位形奇异原理

一般并联机构的雅可比矩阵都是方阵，而冗余驱动并联机构由于输入构件数大于输出构件自由度数，其雅可比矩阵具有非方阵的特殊性。传统的观点认为冗余驱动能够消除奇异，但是没有给出严格的数学意义上的证明和构造冗余驱动的具体方法。从可操作度的角度研究了冗余驱动并联机构的奇异性，最终给出了判别方法。用数学方法证明了冗余驱动可以消除奇异位形，并通过实例给出了具体的构造方法。

Theory of Singularity Elimination by Redundant Actuation for Parallel Mechanism

The Jacobian matrix of a general parallel mechanism is square, while the redundant actuation parallel mechanism has non--square Jacobian matrix, for that the number of inputs is more than that of outputs, It is admitted by intuition that redundant actuation can eliminate singularities, but there is no rigorous proving and concrete method about how to construct the redundant actuation. From the view of manipulability, this paper made a thorough research on the configuration singularity of parallel mechanism, and a simple judgement method was put forward. By the method of mathematics, it is proved that redundant actuation can eliminate configuration singularities, and the method is brought forward through examples.