Mechanism Design and Singularity Analysis of an Information Collection Robot in Agricultural Fields

A new type of field information collection robot with four-wheel parallel mechanism is proposed.Analysis on the structure and obstacle-crossing principles shows that the robot is of good terrain adaptability.In order to study the robot singularity loci,the analytic expression of Jacobian matrix is obtained directly based on its definition and D-H matrix method.According to the classification of singularity,dynamic analysis software ADAMS is employed to get the precise locations and kinetic characteristics of the singularity loci,which are in accordance with the theoretical analysis.The robot physical prototype based on these analyses is developed which can avoid the singularity loci efficiently.