英语翻译The paper analysis the workspace of a new kind of asymmetry planar parallel mechanism,and vector closed form method are used for positions of positive and negative solution.Thus the correspondent mathematical expressions can be gotten and

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英语翻译The paper analysis the workspace of a new kind of asymmetry planar parallel mechanism,and vector closed form method are used for positions of positive and negative solution.Thus the correspondent mathematical expressions can be gotten and

英语翻译The paper analysis the workspace of a new kind of asymmetry planar parallel mechanism,and vector closed form method are used for positions of positive and negative solution.Thus the correspondent mathematical expressions can be gotten and
英语翻译
The paper analysis the workspace of a new kind of asymmetry planar parallel mechanism,and vector closed form method are used for positions of positive and negative solution.Thus the correspondent mathematical expressions can be gotten and through the method of derivation both velocity solution and jacobian matrix can be obtained.In addition,after a theoretical workspace was obtained by subspace overlapping of each branch chain,a reachable workspace was got through analysising the influence of multi solution,multiple configurations and various singular positions.Finally,The quantitative relationship between reachable workspace and dimensional parameters was obtained,and the concept of reverse analysis of reachable workspace was presented on this basis,that is,reconstructed its mechanism parameters by analysising the shape of target workspace.
原文：
对一种新型平面非对称并联机构的工作空间进行分析,运用矢量封闭的方法求解了机构末端位置,得到了相应的正反解方程,并对其求导得到了机构的速度方程和雅可比矩阵.此外,在用子空间叠加法求出理论工作空间后,又详细分析了机构在反解不唯一、多种构型和奇异位形情况下的实际可达工作空间.最后,探讨了并联机构的可达工作空间与各参数之间的关系,并在此基础上提出了可达工作空间逆向分析的概念,即从目标工作空间反求出机构参数.

英语翻译The paper analysis the workspace of a new kind of asymmetry planar parallel mechanism,and vector closed form method are used for positions of positive and negative solution.Thus the correspondent mathematical expressions can be gotten and
太多语法错误,一上来就错了,analyses,后面错更多

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