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。
Firstly the dimension classification in equation was derived from singularity of constraint equation.
首先由机构位置方程的奇异性导出机构的尺度分类条件
A derivation of the constraint equation a rigid body in slipless rolling in plane was given.
给出无滑滚动约束方程得一种推导方法。
Then, the problem was solved by particle swarm optimization algorithm after elimination of the constraint equations.
然后针对分解后的子问题, 利用微粒群优化算法求解。
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