针对此2自由度空间机构运动，运用机构学理论，推导了这一空间机构的基本坐标变换，建立了各参数之间的内在关系。
To the 2-dof mechanism, the basic coordinate transformation is deduced and relationships among various parameters are analyzed with the theory of spatial mechanism.
针对此2自由度空间机构运动，运用机构学理论，推导了这一空间机构的基本坐标变换，建立了各参数之间的内在关系。
To the 2-dof mechanism, the basic coordinate transformation is deduced and relationships among various parameters are analyzed with the theory of spatial mechanism.
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