At last, a virtual model of the manipulator is created, and results of simulation of manipulator 's working range show that the design requirement is basically satisfied.

最后，创建了机械臂的虚拟样机模型，进行了机械手工作域的仿真分析，结果表明能较好地满足设计要求。

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Virtual joints are used to replace the identified joint(s) in a manipulator matrix (200) to modify the manipulator matrix (200) and provide a modified manipulator matrix.

在操作器矩阵（200）中 以虚拟接点取代识别出的所述一个或多个接点，以更改所述操作器矩阵 （200）并提供更改后的操作器矩阵。

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