| Summary: | 碩士 === 國立臺灣科技大學 === 工程技術研究所 === 81 === In this work we use reciprocal screw theory and linear algebra
to investigate the statics,kinematics and singularity of In-
parallel manipulators. The Jacobian matrix for both kinematics
and static analysis are developed which allow us : (i)To
determine mobility and stability of In-parallel manipulators.
ii)To obtain the null space of static Jacobian matrix, when a
wrench is in the span of this null space, no torque/force is
needed in actuated joints to balance this wrench. Further, new
theories on singularity of In-parallel manipulators were
developed and proved.
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