其次在对机构运动学分析的基础上，利用机构的雅可比矩阵和运动学反解方程对机构的工作空间进行分析。
Secondly on the basis of the mechanism kinematics' analyzing, the mechanism's workspace was analyzed through the Jacobian matrix and the inverse kinematics equation.
通过运动学分析，得出平面变胞机构在一个运动周期中输出杆件的位置、速度和加速度以及平面变胞机构的其他杆件的运动学参数。
Through the kinematic analysis, the positions, speeds and accelerations of the output link as well as the other links of the planar metamorphic mechanisms can be obtained.
通过运动分析给出了实现径向直线伸缩运动的必要条件，进行了净化机器人的运动学与动力学分析。
According to motion analysis, the necessary conditions for realizing the radial rectilinear motion were given and the kinematics and dynamic analysis of the cleaning robot were discussed.
在对电机转子和滑轨支架进行运动学分析的基础上，给出了电机转子的单刚体运动学模型和带有滑轨支架的刚体系运动学模型。
On the basis of kinematic analysis of rotor and gimbal guideway, the rigid body kinematic models of single rotor and rotor with the gimbal guideway were derived.
根据辐射机器人的运动特性给出了运动学方程的正、反解，并对其作了动力学分析，且在关节空间对其进行了轨迹规划。
According to the moving character of this Robot, kinematic equations is obtained and solved inversely. And also gives the dynamic analysis. In Robot joint space, the trajectory is planned.
从运动学和动力学分析的结果来验证炮弹在供输弹机构的驱动下的运动学及动力学性能，并发现了一些问题。
With the result of kinematics and dynamics analysis, some performances of the machine have been verified and some problems of it have been found.
对机器人腿部关节机构进行运动学分析，推导了机器人三自由度手臂的运动学方程，并在此基础上求解了机器人单足的工作空间和越障能力。
The kinematics of the joint mechanism of the robot's leg was analyzed and the kinematics equation of leg was solved. On this basis, workspace of foots 'end and overstepping ability was presented.
对机器人腿部关节机构进行运动学分析，推导了机器人三自由度手臂的运动学方程，并在此基础上求解了机器人单足的工作空间和越障能力。
The kinematics of the joint mechanism of the robot's leg was analyzed and the kinematics equation of leg was solved. On this basis, workspace of foots 'end and overstepping ability was presented.
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