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.

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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.

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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.

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