| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系 === 91 === In this thesis, a geometric method is proposed to perform direct and inverse position analysis for the 6-dof parallel manipulator─Hexaglide. Also direct and inverse kinematic singular positions of this platform can be found. Analyses are performed on an equivalent 3-limb platform. In direct position analysis, each of the three spherical joints of the equivalent platform is on a known circle, and a numerical method is suggested to locate these spherical joints. In inverse position analysis, drivers are the intersections of three spheres and slider tracks.
In singularity analyses, the Jacobian matrix of a Hexaglide and the Jacobian matrix of the equivalent platform are obtained. Inverse singular positions can be determined from the Jacobian matrices, while direct singular position can only be found from corresponding Jacobian matrices, and then be verified by substituting these positions into the Jacobian matrices. A numerical procedure is also developed in this thesis to locate direct singular positions of Hexaglide. All direct singular positions found in this study assume either one of the following two configurations ： two limbs connected to a same spherical joint lie on the plane of the moving platform； or at least two of the three spherical joints are on the fixed base.
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