得到了机构的位置正反解，绘制了机构在进行基本康复运动时的驱动副输入曲线图；
The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given based on spherical trigonometry.
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.
针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
摘要在确定机构装配方式基础上，求解了二自由度并联机构的位置正反解和速度雅克比矩阵。
After determining the assemble scheme the closed forward and inverse solution and velocity jacobin matrix of the two degree of freedom parallel mechanism are obtained.
回顾了并联机构位置正反解研究的数学基础，研究了2-DOF和3-DOF球面并联机构位置正反解问题；
The forward and inverse position problems of the 2-DOF and 3-DOF parallel spherical mechanism are studied.
回顾了并联机构位置正反解研究的数学基础，研究了2-DOF和3-DOF球面并联机构位置正反解问题；
The forward and inverse position problems of the 2-DOF and 3-DOF parallel spherical mechanism are studied.
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