六連桿的平行機構，為六根連接桿連接上下的可動板（platform）和固定板（base），和傳統串聯式機器人相較之下，有下列主要的優點：（1）由於驅動桿是二力構件只受軸向力，因此剛性較好。（2）因為平行式機構，誤差不會累積。（3）因為慣性質量及轉動慣性較小，所以加速度高。綜合前述特質，六連桿的平行機構主要是針對傳統的串聯式機構的缺點來尋求改善和突破。
而本人所研究的Hexaglide型平行機構（以下簡稱Hexaglide），擁有平行機構高剛性、低慣性、高加速度的特性之外。其在驅動器方面是以線性滑軌驅動來取代傳統平行機構的telescope結構，其組合方式多為傳統串聯式機構的標準件；因此，驅動器方面的技術成熟且成本可降低，比傳統平行機構少了一些待突破的瓶頸（驅動器方面）。此外，Hexaglide的軌道往X方向延伸，如果軌道夠長，Hexaglide的工作空間可以往X方向做延伸，增加了在加工及組裝時的優勢，例如：機翼的加工和生產線的組裝，都需要一特定方向具有相當大的工作空間來配合。

在平行機構的性能分析中，工作空間分析、機械性能分析、奇異行為是三個機構研發的重要課題。工作空間無法清楚表示、工作空間可能存在奇異點、機械效率不明和欠缺有系統性的設計程序，這些種種的因素使得工業界對於平行機構裹足不前，無法使平行機構發揮其優勢。

而工作空間數值解的完整分析已由陳明弘發展完成，而關於機械性能指標、奇異點以及工作空間近似解的分析卻從未有人深入加以探討，是故必須發展出一套機械效能及奇異點的分析工具，協助瞭解Hexaglide的特性，進而發展一套系統性的設計程序來作為Hexaglide發展初期的研究重點。

在本人論文中首先定義機械效能、剛性、進給速率，三種機械性能指標來分析Hexaglide在工作空間中的表現及避開奇異點。在工作空間分析的部分；由逆向運動學出發，尋找其三軸工作空間的解析解與五軸工作空間的近似解。並且利用數值解的方式，求出連桿間干涉的現象。

最後利用上述的工具，以幾何關係的觀念，設計出一套系統化的設計程序，使得，Hexaglide可工作的空間充分了利用了機械性能良好的部分。此方法不但能讓可工作的空間大小符合要求，且機械性能也符合要求。

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