一般六軸串聯式機器人或並聯式機器人已被廣泛的研究數十年之久，但是工業用機器人相關之論文並不多。本文主要研究五種常用之工業機器人，首先探討各類型機器人反位移分析之解析解並以這些解之特殊構造為基礎提出方法判斷是否可得到不經過奇異點及軸位移限制區域由出發點順利到達終點之可行路徑。在設計方面則利用賈式矩陣行列式值、軸位移限制條件以及操控性指數導出可求得並繪出機器人軸位移空間、工作空間以及操控性曲線之方法，最後將所有相關理論整合並開發一套適用於工業機器人之軟體。

Six degree-of-freedom general serial manipulators and parallel manipulators have been intensively studied over the last four decades. The literature in the area of industrial manipulators, on the other hand, is very sparse. This thesis investigates five different types of industrial manipulators. The analytical solutions for inverse kinematics are first studied. Some special characteristics of the solutions are then employed to develop methods for predicting if a feasible path that does not pass singular points or restricted joint regions can be obtained. For design considerations, methods based on the determinant of the Jacobian and dexterity measures are proposed to obtain singular surfaces and dexterity curves in both joint space and task space. All the presented methods are then integrated into a computer software that can be used for trajectory planning or searching for the design with optimum workspace or dexterity.

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