工業手臂型機器人，一般具有六個主動式接頭串接以達到空間中六個運動自由度，可執行較複雜且靈活的軌跡追蹤，相對於SCARA機器人及Delta機器人有較大且立體的工作空間，但若六軸機器人腕機構使用滾轉傾俯滾轉運動鏈，工作空間內有腕關節奇異姿態，當機器人運動時，靠近腕關節奇異姿態，會造成關節有過大的角速度需求。
冗餘軸機器人可利用冗餘操作避開奇異姿態並降低關節角速度，本文提出一新型端效器模組，其具有尺寸小、扭矩密度高、剛性高及價格便宜等優點，適合作為微機器人安裝在六軸機器人末端，組成八軸宏微機器人。微機器人提供傾俯及偏擺冗餘運動，機器人末三軸為滾轉傾俯偏擺腕機構，其工作空間內無奇異點。此外，八軸宏微機器人將冗餘軸集中在原六軸機器人的末端，因此能夠在狹小空間內提供靈活運動能力，有助於工廠空間的利用。
本文以直線軌跡、繞圓軌跡、遠端運動中心軌跡模擬八軸宏微機器人軌跡追蹤能力，在實例中，同時比較六軸機器人及市售七軸冗餘軸機器人的模擬結果，八軸宏微機器人能最有效解決腕關節奇異姿態的問題且降低關節角速度要求。從經濟成本面討論，如果六軸機器人需避開奇異姿態，無法直接在六軸機器人連桿二的中間加裝冗餘軸組成七軸機器人，需要將六軸機器人汰換掉並購買一體成形之七軸機器人；八軸宏微機器人可在原有的六軸機器人末端直接安裝端效器模組，其成本較低且可自行拆裝，因此，宏微機器人是最有效且成本低的方式解決六軸機器人因腕關節奇異姿態造成關節角速度過大的問題。

Industrial arm-type robots have multiple degrees-of-freedom (DoFs) and high dexterity but when uses of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocity will required when encountering these singularities. Arm-type robots currently don’t have enough dexterity to move the end-effector away from the wrist singularities. Robots with redundant DoFs can be used to provide additional dexterity to avoid the singularities and avoid the excessive joint velocity. An endeffector wrist module is proposed in this study to provide two redundant DoFs when interfaced with an existing 6-DoF robot. The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities inside the reachable workspace. The highly redundant robot can also be used to avoid collisions in various directions. Path tracking simulation examples are provided to show the advantages of the proposed design compare with existing redundant or nonredundant robots. That this module can serve as a cost-effective solution in applications where singularity-free motion or collision-free motion is required.

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