本研究推導出CaPaMan2並聯式機械手臂活動平台六個自由度間的運動限制條件(motion constraints)，並利用運動限制條件求出工作空間大小(work space)與驅動角度範圍(range of driving angles)。而運動限制條件微分所得的速度限制方程式則被用來尋找限制奇異位置(Constraint Singularities)。 本文亦利用機構的幾何關係，推導出CaPaMan2並聯式機械手臂的Jacobian矩陣，並利用此矩陣尋找機構的正向及逆向奇異位置(Direct Kinematic Singularities and Inverse Kinematic Singularities)。 Moving platform’s motion constraints of the parallel manipulator CaPaMan2 are first derived in this thesis. These constraints are then used to find the manipulator’s workspace and the range of driving angles. Velocity constraints are obtained by taking the first time derivatives of the motion constraints, and constraint singularity positions may be defined as positions making Jacobian matrices in velocity constraints singular. In this study several constraint singularity positions ,as well as inverse and forward singular position, are determined.
