一等向性機器人通常被認為具有最佳操控性之設計，但當機器人之工作區域偏離一等向點時其操控性會大幅下降甚至會接近奇異點。本文提出方法藉由調整並聯式機器人工作平台上刀具或夾具上參考點位置以改變原機器人之等向點位置，此方法可將一機器人之等向點移至一指定工作區域之中心位置而改善原機器人之操控性，其次將此方法應用於3-RRR及3-RPR兩類平面型並聯式機器人並獲得非常好之改良，至於三自由度Delta型機器人方面，此研究發現其工作空間內之任何點皆有極佳之操控性，因此理論上不需藉由改變參考點位置之方法來提升其操控性。最後針對此三種並聯式機器人之操控性及運動效率進行比較。

An isotropic manipulator is generally considered to have optimal dexterity, but the same manipulator can still have very poor dexterity and even reach a singular configuration if it operates in a region that is far from isotropic positions. This thesis presents methods that adjust the tool center point on the platform to change the locations of isotropic positions. The methods can move an isotropic position to the center point of a designated working region and improve the dexterity of a manipulator when it operates in that region. The proposed methods significantly improve the dexterity of 3-RRR and 3-RPR planar manipulators. For a 3-DOF Delta manipulator, this study shows that all the points inside the workspace have very good dexterity, so there is no need to improve the dexterity using the proposed methods. The speed and dexterity of the three parallel manipulators are compared to determine which design has better kinematic properties.

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