建立了机构的运动学正逆封闭解方程、作业空间解析解和速度传递方程。
Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocity matrix.
采用全封闭式的结构，有效的防止了物料与空气交叉感染，作业环境清洁。
Adopt full sealed structure. It is effective to protect cross infection between material and air. The operation environment is clean.
本实用新型既能剪切钢缆又能封闭井口的装置，极大地满足了油田捞油作业的安全。
The shear ram valve not only can shear wire ropes, but also can close a well mouth, thereby largely satisfying the safety of pumping operation in an oil filed.
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