The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given based on spherical trigonometry.
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.
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；
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