通过运动学的分析，确定了机器的驱动装置——气缸中活塞的行程，并保证了机构的最小传动角符合要求；
The driving unit of machine—the distance of piston is ascertained with kinematics analysis and the smallest transmission angle is conformable.
运用力学和运动学方法推导得到了余留支撑体所对应的最小保留角和爆破切口高度计算公式。
The calculating formulae of minimum Angle corresponding to the remained wall and blasting cutting height are deduced on the basis of principle of mechanics and dynamics.
提出了坐标变换、三角变换等方法，巧妙求解出拟人机器人TH - 1手臂逆向运动学的解析表达式。
Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot th 1 arms.
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