本文介绍该机的基本要求、类型和常见的结构，为专用工件位置变换机的设计提供参考依据。
The basic principles, types and common construction of the positioners are provided for the purpose of design in this paper.
寻求移动变换机构中旋转角度计算的方法，给出了移动变换定义，按定义推导出了代数方程组。
The calculation of revolving angles is direct and forthright by combination of form and number.
工件位置变换机是机器人生产线和工作站中的重要设备之一，随着工件形状和大小的变化，其结构型式灵活多变。
The positioner is very important in robot line and robot station. As there are workpieces in different shapes and sizes, the positioner is flexible in construction.
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