Founded on D-H coordinate system, a series of kinematics equations are deduced to realize kinematics forward solution by means of transformation equations.
本文在机器人学的理论基础上，将机器人模型建立在D - H坐标系下，根据变换方程推导出一组简单实用的方程来实现运动学方程的正解。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward.
给出了机器人的运动学正解和逆解，提出了一套机构简化方案，完成了机器人的各种手臂姿态规划，分析了存在的运动干涉约束。
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