Because of complex mechanism, displacement analysis of parallel robot, especially on parallel redundant robot, is much more complex than that of serial robot.
由于机构的结构复杂，对并联机器人进行位置分析，尤其是并联冗余机器人，要比串联机器人复杂得多。
For forward displacement, the original equations have 4 solutions. The result shows that the planar parallel redundant robot have 4 different positions and orientations.
对于位置正解，其中方程的解最多为4，说明这种平面并联机构可以有4种不同的位姿。
For forward displacement, the original equations have 4 solutions. The result shows that the planar parallel redundant robot can have 4 different positions and orientations.
对于位置正解，其中方程的解最多为4，说明这种平面并联机构可以有4种不同的位姿。
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