建立了详细的行星齿环换向机构运动学分析模型；
The kinematic analysis model has set up for planetary gear-ring inverse mechanism.
其次在对机构运动学分析的基础上，利用机构的雅可比矩阵和运动学反解方程对机构的工作空间进行分析。
Secondly on the basis of the mechanism kinematics' analyzing, the mechanism's workspace was analyzed through the Jacobian matrix and the inverse kinematics equation.
基本机构的种类是有限的，其运动学分析也是相对简单的。
The type of base mechanism is limited, and its kinematic analysis is very simple.
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