At last, using the numerical result of the inverse solution, the direct position analysis is proved to be true.
运用反解的方式对其进行了数值验证，证明该正解分析是正确的。
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。
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