Gogu最近提出計算並聯式機械手臂自由度的方法，此方法是利用線性代數的概念，所使用的結構參數包括機構連結度、多餘度、及過度拘束。
    本論文針對數個機械手指抓取物體的情況，將手指與物體考慮成並聯式機械手臂之肢幹與活動平台，利用Gogu的公式可計算各手指穩固抓取物件或是數個手指與物件間發生滑動時的自由度，在穩固抓取時各肢幹之最後一桿和物件會形成同一剛體，而滑動時兩者是以平面對連接，本文分別考慮數種抓取方式，及各肢幹滑動時所造成自由度的差異，指出物體所可能從事的運動，並且與常見的CGK公式比較結果。

A method to calculate degrees of freedom (mobility) of parallel manipulators has recently been suggested by Gogu. The method is based on linear algebra, and structural parameters utilized in this method include connectivity, redundancy, and overconstraint.
    In this thesis the author deals with situations of multi-fingered grasping of an object. Fingers and objects are considered as the limbs and the moving platform of a parallel manipulator, respectively. The degree of freedom is calculated by using the method suggested by Gogu. As the grasping is firm, a finger is considers as a part of the object. If relative slip occurs, then the finger is considered to be connected to the body by a planar pair. Degrees of freedom are calculated for several types of mechanical fingers, and with various numbers of slipped fingers. Comparisons to the popular CGK formula are also given in this thesis.

中文摘要...I
英文摘要...II
目錄...III
圖目錄...V
表目錄...VI
第一章  緒論...1
1.1 前言...1
1.2 文獻回顧與研究內容...2
第二章  各種形式機械手臂與其結構參數...6
2.1 開回圈機械手臂	...6
2.2 單迴圈機械手臂	...7
2.3 單純並聯式機械手臂...8
2.4 複雜並聯式機械手臂...10
2.5 多餘度...11
2.6 過度拘束...11
第三章  計算各種機械手臂之結構參數...13
3.1 四隻機械手指各有兩個相同方向R街頭...13
3.2 四隻機械手指各有兩個相差90°之R接頭...19
3.3 四隻機械手指之R接頭皆為相同方向...25
3.4 四隻機械手指各有三個相同方向R接頭...30
3.5 四隻RPR機械手指...36
3.6 三隻RPR機械手指...43
3.7 三隻RRR機械手指...47
第四章  結果與討論...51
第五章  結論...56
參考文獻...57
圖目錄
圖一  Parallel Cartesian robotic manipulator...59
圖二  開回圈機械手臂封閉為閉迴圈機械手臂...60
圖三  兩個開回圈機械手臂封閉為一個閉迴圈機械手臂...61
圖四  complex kinematic chain with two structurally independent closed loops and k-2 open loops...62
圖五  四隻串聯式機械手指封閉前...63
圖六  四隻串聯式機械手指端取一物體...64
圖七  四隻串聯式機械手指各有相差90°之二旋轉接頭...65
圖八  四隻手指各有相差90°之二旋轉接頭且端取一物體...66
圖九  四肢機械手指各有兩個相同方向之旋轉接頭...67
圖十  四隻手指各有兩個相同方向之旋轉接頭且端取一物體...68
圖十一  四肢機械手指各有三個相同方向之旋轉接頭...69
圖十二  四肢手指各有三個相同方向之旋轉接頭且端取一物體...70
圖十三  四肢RPR接頭機械手指...71
圖十四  四肢RPR接頭機械手指端取一物體...72
圖十五  三隻RPR接頭機械手指...73
圖十六  三隻RPR機械手指端取一物體...74
圖十七  三隻RRR接頭機械手指...75
圖十八  三隻RPR機械手指端取一物體...76
表目錄
表一  各種公式計算CPM機構之自由度...4
表二  3.1、3.2、3.3機構之自由度M...52
表三  3.1、3.2、3.3機構之自由度M，F及過度拘束N...52
表四  3.4、3.5機構之自由度M	...53
表五  3.4、3.5機構之自由度M，F及過度拘束N...53
表六  3.6、3.7機構之自由度M	...54
表七  3.6、3.7機構之自由度M，F及過度拘束N...54

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