To perform the gear ratios synthesis, the exact solution of gear ratios is obtained from the kinematic equation and the geometric constraint of each basic EGM. 運動(dòng)綜合時(shí)，精確的齒數比可以從每一個(gè)基本周轉輪系的運動(dòng)學(xué)方程和幾何約束方程中求出。
It specifies the establishment of the kinematic equations and the Jacobin matrix.It also gives a detailed discussion on the singularity of the mechanism. 文章具體闡述該操作臺的運動(dòng)學(xué)方程和雅可比矩陣的建立過(guò)程，并詳細討論了機構的奇異性。
