機器人於奇異點時會失去自由度或增加自由度，固此完全無法控制，目前在學術研究上求得六自由度並聯式機器人工作空間之方法(包括解析法及搜尋法)決定機器人上參考點所能到達所有點之範圍，對於此範圍內是否存在奇異點則大都沒有考慮，本文中提出一數值分析方法可以找出最大的驅動軸位移範圍，由這範圍產生的工作空間內將無奇異點，由此範圍所得到之空間即為無奇異點之工作空間。

目前存在求得工作空間邊界之方法由只考慮四個鏈到達極限時所形成之部分曲面所構成，但對於構造特殊之機器人，由低於四個鏈到達極限亦可形成邊界，本文將討論這個現象並提出方法求得兩個角錐形機器人不含奇異點之工作空間。

The workspace of 6-DOF parallel manipulators determined by existing methods (numerical or analytical) is a set of points that can be reached by the reference point on the platform. The obtained workspace, in general, contains singular points that will cause havoc in the control of manipulators. This thesis presents algorithms to obtain optimum singularity-free joint space, which is then used to develop singularity-free workspace.
The workspace boundary consists of many two-DOF patches generated by four constraint equations. However, for some special cases some of the boundaries can be generated by only three constraint equations. This work investigates these special cases and proposes methods to develop the singularity-free workspace of two special 6-DOF parallel manipulators.

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