A constraint relation dependence graph (CRDG) is applied to express the dependence of coupling constraints, and establish the numerical and symbolic coupling constraints model.
采用约束关系依赖图(CRDG)表达耦合约束之间的依赖关系，从而建立数值与符号耦合约束模型。
However, the code generation-based approach used by MDD has its own downside, due to things like constraints in generated code, insufficiently skilled developers, and tight coupling to the model.
然而，MDD所使用的基于代码生成的方法有它不利的方面，这是由于例如所生成代码中的约束、技术不强的开发人员和与模型的紧耦合等因素造成的。
Based upon screw theory and set theory, the structural characteristics of lower-mobility parallel robots was studied via the union of limb constraints and the coupling of loop over-constraint.
应用螺旋理论与集合论原理，按照支链并联、回路耦合的观点，进行少自由度并联机器人构型特征的研究。
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