本文將提出一種新型式的三自由度純平移並聯式機械手臂，此並聯機構主要是由固定於基座的圓柱接頭、連接肢幹上兩桿件的旋轉接頭、與連接活動平台的萬向接頭所組成，簡稱為3-CRU平移型並聯式機械手臂。
在運動分析方面，本論文首先根據此並聯式機械手臂之組裝條件推導出運動限制，共有三條多項式方程組，可尋找出正逆向運動分析之閉合解(closed-form solutions)，接著再利用逆向運動分析去驗証正向運動學的正確性。最後，再進一步分析此機構在不同高度時工作空間之區域範圍。

A new 3 degree-of-freedom translational parallel manipulator is proposed in this thesis. This manipulator consists of three cylindrical joints fixed to the base, three revolute joints that connect two links in each limb, and three universal joints connect the limb to the moving platform. The manipulator is hence called a 3-CRU translational parallel manipulator.
Loop closure equations of the three limbs lead to kinematic equations for forward position analysis. They are three polynomial equations from which closed-form equations may be obtained. Forward kinematics results may be verified by inverse kinematics results. Finally, manipulator’s workspace is shown for various platform heights.

目錄
中文摘要 .................................................................................Ⅰ
英文摘要 .................................................................................Ⅱ
目錄 .........................................................................................Ⅲ
圖目錄 .....................................................................................Ⅴ
表目錄 .....................................................................................Ⅶ
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  機構特性與運動限制 .............................................. 4
2.1 平台之構造 ............................................................. 4
2.2 機構組裝與製造條件 ............................................. 4
2.3 機構之運動限制 ..................................................... 5
第三章  運動學分析 .............................................................. 7
3.1 座標系之設定 ......................................................... 7
3.2 運動條件方程式之推導 ......................................... 9
第四章  結果與討論 ............................................................ 13
4.1 正向位置分析 ....................................................... 13
4.2 正向位置分析結果之驗証 ................................... 15
4.3 速度與加速度分析 ............................................... 18
4.4 工作空間分析 …................................................... 22
第五章  結論及未來方向 .................................................... 24
參考文獻 ................................................................................ 25

圖目錄
圖一  3-CRU parallel manipulator概念圖 ............................27
圖二  3-CRU parallel manipulator 機構圖 ..........................28
圖三  機械手臂的第 個肢幹 ................................................29
圖四  固定座標系與移動座標系 .........................................30
圖五   座標系 .....................................................................31
圖六   時之機構構形 .........................................32
圖七   時之機構構形 .......................................33
圖八   時之機構構形 .......................................34
圖九   時之機構構形(一) .........................35
圖十   時之機構構形(二) .........................36
圖十一   時之機構構形(三) .....................37
圖十二   時之機構構形(一) ...................38
圖十三   時之機構構形(二) ...................39
圖十四   時之機構構形(三) ...................40
圖十五   時之機構構形(四) ...................41
圖十六  不同 值時的工作空間 ...........................................42
圖十七  三維工作空間的等角視圖 .....................................43

表目錄
表一 3-CRU機構尺寸參數表 ................................................13
表二  時活動平台位置 .......................................13
表三  時活動平台位置 .....................................13
表四  時活動平台位置 ....................................14
表五  時活動平台位置 .............................14
表六  時活動平台位置 ..........................14
表七 逆向運動條件方程式求出的第一組驅動參數表 ........16
表八 逆向運動條件方程式求出的第二組驅動參數表 ........16
表九 逆向運動條件方程式求出的第三組驅動參數表 ........16
表十 逆向運動條件方程式求出的第四組驅動參數表 ........17
表十一 逆向運動條件方程式求出的第五組驅動參數表 ....17
表十二  時活動平台速度表 ...................21
表十三  時活動平台加速度表 ...............21

參 考 文 獻

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[2] F. Pierrot, C. Reynaud, and A. Fournier, ‘‘DELTA. A simple and efficient parallel robot’’ , Robotica, v 8 pt 2, Apr-Jun, 1990, pp.105-109.

[3] I. A. Bonev, Delta Parallel Robot — the Story of Success. May, 6 , 2001, http://www.parallemic.org/Reviews/Review002.html.

[4] L. W. Tsai, ‘‘Kinematics of a Three-DOF Platform with Three Extensible Limbs,’’ in Recent Advances in Robot Kinematics, edited by J. Lenarcic and V. Parenti-Castelli, Kluwer Academic Publishers, 1996, pp. 401–410.

[5] R. Di Gregorio, and P. Castelli, V. 1999. September 19–23. ‘‘Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion’’, Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, 1999, pp. 520–525.

[6] L.W. Guan, J. S. Wang, and L. P. Wang, ‘‘Mobility Analysis of the 3-UPU Parallel Mechanism Based on Screw Theory’’ , Proc. 2004 International Conference on Intelligent Mechatronics and Automation, 2004, pp. 309-314.

[7] L. W. Tsai, and S. Joshi, ‘‘Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines ’’ , Journal of Mechanical Design, v 124, n 2, June, 2002, pp. 245-253.

[8] X. Kong, and C. M. Gosselin, ‘‘Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator’’, International Journal of Robotics Research, v 21, n 9, September, 2002, pp. 791-798.

[9] M. Callegari, M. Palpacelli and M. Scarponi, ‘‘Kinematics of the 3-CPU parallel manipulator assembled for motions of pure translation’’, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, pp. 4020-4025

[10] R. Di Gregorio, and P. Castelli, 1998, ‘‘A translational 3-dof parallel manipulator’’, Advances in Robot Kinematics: Analysis and Control, Eds. Lenarcic I. and Husty M.L., Kluwa Academic Publishers, ISBN 0-7923-5 169-X, pp. 49-58

[11] L. W. Tsai, Robot Analysis-The Mechanics of Serial and Parallel
Manipulators, John Wiley and Sons, NY, 1999.

[12] 丘世昌，CaPaMan2 並聯式機械手臂正向位置分析，淡江大學機械與機電工程學系碩士論文，2006年6月。