The shape-finding analysis of slack cable-bar assemblies is involved in the former topic, and the motion tracing analysis of planar pin-bar mechanisms can describe the latter topic well.
前者涉及到松弛态索杆体系的找形分析，后者可简化为平面连杆机构的运动形态分析。
In detail, the arm adopts the planar rotating joint structure driven by a cable.
从操作手臂部机构为平面转动关节构型，由丝传动机构驱动；
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