本論文主要在探討空間多模式七連桿機構的位置分析，這些機構分別由Bennett 4R機構、Goldberg 5R機構與RPRP機構三種過拘束機構組合而成，包括由Bennett 4R機構與Goldberg 5R機構共用兩相鄰接頭組成的多模式7R機構、由Bennett 4R機構與RPRP機構共用一R接頭組成的多模式5R2P機構以及由兩組RPRP機構共用一P接頭組成的多模式4R3P機構。
文中將介紹此三種多模式七連桿機構的組合方法與組合類型，並使用和修改Raghavan和Roth的空間6R機械臂逆向運動學方法，處理給定輸入的空間閉迴路七連桿位置分析問題，找出輸入範圍內，各接頭對輸入接頭的運動曲線。
根據分析結果，這三種多模式七連桿機構的運動皆可以分成以下三種運動模式：兩種用於組合的過拘束機構模式以及機構自身的一般七連桿機構模式。此外不同模式於特定位置，會出現模式交會的交會構形，可進行模式轉換。
多模式7R機構與多模式5R2P機構利用模式轉換，不需經過拆解，就能到達所有分支，且包含過拘束機構的簡潔運動，能夠避開一般七連桿機構運動的死點位置。對多模式4R3P機構而言，雖可轉換模式，但因輸入不同，有範圍限制，會出現迴圈之間無法連接的情形，且欲到達特定分支，仍須拆解並重組機構。

This thesis conducts the kinematic analysis of multiple-mode seven-link linkages, which are constructed by combining two overconstrained mechanisms with one or two common joints. The overconstrained mechanisms used in this thesis are Bennett 4R, Goldberg 5R and RPRP linkages.
In this thesis, the construction of the multiple-mode 7R, 5R2P and 4R3P linkages and their variations are investigated. The analytical inverse kinematic solutions of open six-link manipulators are adopted to analyze close loop seven-link linkages for a given driving joint angle.
According to the result of position analysis, each multiple-mode linkage consists of three operation mode: two overconstrained mechanism mode and a general seven-link linkage mode. These modes can be switched by locking or triggering joints at connecting configurations.
For multiple-mode 7R and 5R2P linkages, the simpler motions of the overconstrained mechanism modes allow the linkages to be operated without the need of disassembling/reconnecting the linkages. However, for the multiple-mode 4R3P linkage, it is still necessary to disconnect/reassemble the linkage when moving between certain branches.

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