单凸轮连杆组合机构可克服上述缺点，即可以方便地再现预定轨迹并有精确解，但其缺点是难以实现内凹曲线的轨迹复演。
Single CAM linkage mechanism can overcome the shortcomings mentioned above, however the new problem is that the mechanism can not generate the path which has concave curve.
对直动与直动组合的凸轮机械手进行了系统的研究，对其进行了机构设计和精度分析与综合，完成了工程设计，并试制出了样机。
The linear cam manipulator is studied systematically, mechanism design, precision analysis and synthesis , engineering design are carried out, a prototype of the manipulator has been made.
给出了该机构组合系统中各构件的主要尺寸，并最终完成了凸轮—连杆机构组合系统的结构设计。
The main sizes of the mechanism are given and the structural design of the cam-linkages mechanism combination is completed finally.
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