| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 96 === In this thesis the singularity and static analysis of a 6R serial manipulator are performed. The manipulator may be used in a manufacturing process or as a leg in a biped robot. The manipulator cannot perform any further motion when it is in a singular configuration, hence such configurations should be avoided during path planning. The Jacobian matrices are derived by three different methods in this thesis. The matrix derived using screw theory has the simplest form, from which all positions causing singularity may be obtained. These positions are then substituted into another Jacobian matrix to verify results. In addition, as the manipulator is a leg of a biped robot, using a static analysis the torque on each joint is determined for a particular posture which, according to prior experimental data, would give rise to the largest torque.
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