航太及機械構件的製造、加工、及組裝過程經常藉用機械手臂。本文是針對一種由6 個旋轉接頭連
接而成的串接式機械手臂,探討此機構的奇異位置。此機械手臂可出現在機械加工或是雙足機器人的
腿部,當機械手臂運動至奇異位置時,機構無法繼續作動,因此在路徑規畫時須避開這些位置。本文
利用螺旋理論推導出機械手臂的Jacobian 矩陣,並利用矩陣的行列式找出發生奇異位置的條件。本文
找出此機構之工作空間內沒有奇異位置的區域,並顯示數個奇異構形,以及探討這些奇異構形的性質。 Robot manipulators are widely used in manufacturing, surface finishing, or assembly of aerospace or
mechanical components. In this study the singularity analysis of a 6R serial manipulator is performed. The
manipulator may be used in a manufacturing process or as a leg in a biped robot. The manipulator cannot
perform any further motion when it is in a singular configuration, hence such configurations should be
avoided during path planning. The Jacobian matrices are derived by using screw theory, from which all
positions causing singularity may be obtained. The singularity-free region in the workspace is also located in
this study.