The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
基于次铰全自由度表达模型，推导闭链加速度约束等式；
A motion constraint equation for moving target is derived by the first order geometric features.
利用一阶几何特征导出了目标的运动约束方程。
A novel gradient constraint equation was obtained through analyzing the error of temporal gradient.
通过对时间梯度误差的分析，得到了新的梯度约束方程；
Based on singularity of constraint equation and complex division of structure-parameter-space, the dimension classification method of planar mechanism was researched.
以位置约束方程奇异性条件和结构参数空间复形剖分方法为基础，研究了平面机构尺度分类问题。
When transferring a geometric constraint equation group into an optimization model, we need a method to jump out of the local beat solution so that we can find a best global solution.
在将几何约束问题的约束方程组转化为优化模型的时候，需要找到一种方法来跳出局部最优解，进而找到全局最优解。
Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
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