本文針對六軸滑塊平台(Hexaglide),導出其速度分析的Jacobian矩陣,並利 用此Jacobian矩陣,尋找出數個正向及逆向奇異位置(Direct and inverse singular positions)。 In this paper, the analysis 6*6 Jacobian matrices of the 6 dof paralled manipulator (Hexaglide platform) are found. These Jacobian matrices are then used to find several direct and inverse singular positions.