运用球面解析理论分析了球面机构的位置正反解，并举例说明输入和输出之间的关系。
The forward and reverse position are analyzed by using the spherical analytic theory, and corresponding numerical examples are also given to show the relations between the inputs and the outputs.
只有发散球面波才是唯一稳定解。
他也得出了关于纵向对称运动和球面对称运动的类似解。
He also obtained similarity solutions for longitudinal and spherically symmetric motions.
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