Kinematic data were obtained by using a robotic arm to record the position of the knees for each loading condition.
通过一个机器臂获取动力学数据，记录每种应力条件下膝关节的位置。
Then, the kinematic model is modeled and the mobility is discussed in the paper. And the motion condition equation of the robot is gotten in sequence.
然后，建立了机器人的运动学模型，并讨论了机器人的移动性问题，得出机器人存在运动的条件。
Firstly, by the theory of the four-bar linkage, the general rolling condition for the kinematic chain is concluded.
首先，通过对四杆机构的理论研究，提出了运动链滚动的一般条件。
Firstly, by the theory of the four-bar linkage, the general rolling condition for the kinematic chain is concluded.
首先，通过对四杆机构的理论研究，提出了运动链滚动的一般条件。
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