Parallel Machine Tool; CAD Variation Geometry; Euler Angle; Kinematics; Statics; Free-form Surface; Forward position.
并联机床；CAD变量几何；欧拉角；运动学；静力学；自由曲面；位置正解。
The robotic forward kinematics model can estimate the position and orientation of the PWLER robot relative to the world coordinates using each driving wheel's rotational velocity of the robot.
运用正向运动学模型，根据PWLER各驱动轮的转速可估算出机器人相对于绝对坐标系的位置和姿态。
The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given based on spherical trigonometry.
得到了机构的位置正反解，绘制了机构在进行基本康复运动时的驱动副输入曲线图；
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