飛行模擬器中的致動平台，是為了讓飛行員可以正確的辨別出飛行同時所受到的加速度所產生的力，此外致動平台也廣泛應用於工業上；在大多數場合應用的制動平台，其力矩由並聯足部上的馬達共同承擔。本研究探討一種六個自由度並聯式機器人之靜平衡設計，其方法是由創意性設計方法尋找出和目前文獻找到的非同構機構構型，設計機構出並且佈署靜平衡配置，計算力學能之理論值並且以MSC ADAMS 進行模擬驗證，此外建立一個三足原型機，對其進行實驗並分析之。本文回顧幾種常見的多自由度並聯式機構之構型，以及靜平衡機構的配置，再藉由能量守恆列出平衡方程式，再找出其符合方程式的解。該機構具有三個足部，總共配備六顆馬達作為姿態上的改變的致動電機，可以在其分析的工作區域範圍運動。藉由靜力平衡原理推導理想零自由長度彈簧的彈性係數，其後以一組等效滑輪取代上述之零自由長度彈簧，藉此實現在六自由度平台上的定負載完美靜平衡機構。
　　以Adams 模擬，求得靜平衡構型能為馬達節省99.9%以上的靜止扭矩，運動情況下靜平衡構型能為馬達節省96.4%的能量消耗，靜平衡構型能為馬達節省95.5%的馬達能量輸出率，此外藉由原型機的製作與測試，動態測試上節省了43.5%至62.44%的拉伸力，靜態牽引實驗結果，於運動範圍內可達成自然靜止。

The actuating platform is widely used in not only industrial applications but the　flight simulator. It is helpful to make the pilot identify the force generated by acceleration while flying. Generally, the weight loading is shared by the motors of the parallel actuating platform, therefore the high-power motors are required. To decrease the power consumption and motor specifications, a statically balanced parallel mechanism with three-leg and six-DoF is proposed in this study. At first, the existing designs of parallel mechanisms with multi-DoF and statically balanced devices are surveyed. Secondly, the feasible mechanism structures are synthesized through Creative Mechanism Design Methodology to meet the design requirements and constraints. Thirdly, the corresponding mechanical energy during the motion is analyzed through theoretical calculation and computer-aid simulation with ADAMS software. Then, the setting of zero-length-spring is achieved by a set of pulley mechanisms to build a prototype. Finally, the performance of this innovative design is verified through prototype testing. As the result of the simulation, the motor torque is reduced by 99.9% in the static stage since the weight loading is balanced by the springs. In the motion stage, the energy consumption of the motor is decreased by 96.4%, and the power rate is also decreased by 95.5%. In addition, the results of prototype testing show that the device can naturally standstill at any position within its working space, and the driving force is also reduced by 43.5% to 62.44% in the motion stage.

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