And it also got Jacobian matrix by using the speed superposition principle through regarding mobile platform as Generalized KinematicPair.
并将移动平台视为广义运动副，利用速度叠加原理完成了雅可比矩阵的求解。
2
Further structural decomposition of the driving unit, several planar six linkage and three bar four kinematicpair branch chains were gotten.
通过进一步对驱动单元进行结构分解，得到平面六杆机构及三杆四副支链等基本运动链。
3
A robust design method of planar linkage mechanism is proposed when the length errors of links and the kinematicpair clearances are taken into account.