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。

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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。

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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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