Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
This paper studies and analyzes the 6-dof parallel robot position forward solution, solves the forward solution problem through the inverse solution method.
对6 - DOF并联机器人的位置正解进行了研究和分析，通过位置反解的求解思路来解位置正解的问题。
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