位移分析、操控性及工作空間為設計工業機器人之三個重要參考指標。經過多年之密集研究，目前在六軸串聯型機器人方面之相關研究已相當完整，本文之研究將集中於並聯式機器人及多餘軸機器人。
設計具有最佳操控性之並聯式機器人一般須求解相當多之非線性聯立方程式，且所得之結果常為不具實用性之設計。本文所提出之模組化設計方法除了每一模組可單獨用來設計三自由度並聯式機器人之外，兩個或兩個以上之模組可串聯或並聯成一六自由度、多餘軸或複合型機器人，設計過程除了不須求解聯立方程式，亦可指定數個尺寸參數值以決定機器人之大小及形狀。
目前決定並聯式機器人工作空間之方法絕大多數以搜尋法求得具球窩接頭機器人之理論工作空間，但所得工作空間內可能存在奇異點且其部份子空間可能因連桿干涉現象而無法到達。本文提出之方法可決定工作空間邊界曲面之方程式並可求得不同類型機器人之可連續運動到達之無奇異點工作空間。
在多餘軸機器人方面，本文提出一個以解二次式求得反位移解之方法，除了有極高之運算速度外，亦可判斷所得之解與奇異點接近之程度。提出之方法可應用於絕大多數末三軸交於一點之n自由度串聯式多餘軸機器人。

Kinematics, dexterity and workspace are three of the most important criteria in designing industrial manipulators. Since 6-DOF serial manipulators have been intensively investigated over the last four decades, this study will focus on parallel and redundant manipulators.
In general, developing isotropic parallel manipulators needs to solve systems of nonlinear equations and most of the obtained results are impractical designs with strange shapes and dimensions. A general design method based on modules is presented in which a module is used to develop 3-DOF isotropic manipulators and two or more modules can be used to develop 6-DOF parallel, redundant or hybrid isotropic manipulators. The method does not need to solve nonlinear equations and some of the design parameters can be specified to obtain manipulators with desired shapes or sizes.
Discretization methods are commonly used to develop the workspace for special parallel manipulators with spherical joints. The obtained results might include singular points and some of its subspaces might not be reached because of link interactions. The proposed methods in this work provide the exact equations to determine the boundary of a singularity-free compatible reachable workspace for any types of manipulators.
For redundant manipulators, this work presents an analytical method that develops inverse kinematic solutions using the solutions of quadratic equations. The proposed method is efficient and can detect to closeness to singular configurations. The method is applicable to most n-DOF redundant manipulators with the last three axes intersected at one point.

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