並聯式機器人為近三十年來機器人學上之一個研究重點，目前此類機器人以廣泛的應用於製造產業、醫療產業、遊戲產業..等。當需要高精密度方面之應用時，機器人必須能夠準確將工作平台移至指定之位置及方位，此時必須使用六自由度機器人。另一方面，當機器人應用於某些運動模擬，娛樂設施或電玩遊戲時只需大約將平台移至某些特定之位置及方位，此時可使用較低自由度之機器人以降低成本。本文提出合成三自由度並聯式機器人尺寸之方法，此方法搜尋可到達由設計給定之六個位置或方位之三自由度並聯式機器人之較佳連桿參數組合，得到符合設計需求之機器人之後推導機器人之賈氏矩陣分析其運動特性，並依據分析結果設計具有較佳運動特性之機器人，最終將所得之機器人實體化。

Parallel manipulators have been intensively investigated in the past 30 years, and they have been employed in industrial, medical, recreational and many other applications. Six DOF parallel manipulators should be used for some special tasks that require high precision and accuracy in both the position and the orientation of the platform. On the other hand, a much less expensive lower DOF manipulator can be used in other applications such as motion simulators or recreational devices, because the manipulator only needs to bring the platform to an approximate position or orientation. This thesis first presents methods for the dimensional synthesis of 3-DOF parallel manipulators that can approximately reach six specified positions and orientations. The Jacobian matrix is then developed to investigate the dexterity of the obtained models. A 3-RPS manipulator is built to verify the proposed theories.

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