操控性、工作空間及機械效率為設計工業機器人最常用到之參考指標，而目前已有很多方法可用來搜尋具有最佳操控性、最大工作空間或是最佳機械效率之設計，本文將提出之設計方法將同時考慮到這三個因素。
以正位移分析求得三自由度並聯式機器人工作空間為最有效率之方法，但目前所有之方法皆無法直接決定工作空間之邊界，本文首先利用工作空間邊界曲面之特性提出以正位移分析來快速求得對稱型並聯式機器人工作空間之方法，提出之方法首先用來搜尋多組能夠到達指定工作範圍之設計衡量及比較這些機器人之整體等向性及機械效率以得到具有較佳運動特性之最佳設計，所提出之方法適用於各種不同類型之三自由度並聯式機器人。

Dexterity, workspace and mechanical efficiency are three of the most important criteria in designing industrial manipulators. A manipulator with optimal dexterity, workspace or mechanical efficiency can be developed by many existing methods. This work presents methods that employ all the three criteria to search for manipulators with desired properties.
Direct kinematics is an efficient way to develop the workspace of a 3-DOF parallel manipulator, but the existing methods cannot directly obtain the boundary of the workspace. Using the characteristics of workspace boundaries and direct kinematics, the proposed methods can efficiently determine the boundary of a workspace. The methods are first employed to search for several isotropic designs with a specified workspace. The global isotropy and mechanical efficiency are then evaluated and compared in order to develop the design with better kinematic properties. The methods are applicable to different types of 3-DOF parallel manipulators.

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