介绍了一种由圆柱副、圆柱副和球面副组成的点、线约束的新型并联机构6-CCS，对其进行了结构分析，给出了运动学逆解方程。
A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints is described in this paper. Configurable analysis and inverse kinematic equations are given.
引进运动学中的点速度合成定理，求解单颗金刚石磨粒切削面积。
The composition of velocity law of the points in kinematics is led into the solving of the cutting area of single diamond grit.
通过运用修正后的运动学模型对车身点实施测量，并与跟踪仪的实测距离数据进行比较。
Car body points were measured by using the modified kinematics model and compared with the distance data of laser tracker.
“点的复合运动”是运动学的重要章节。
The relative motion of a particle is an important part of kinematics.
“点的复合运动”是运动学的重要章节。
The relative motion of a particle is an important part of kinematics.
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