kinematics equation的用法和樣例：
例句
- To perform the gear ratios synthesis, the exact solution of gear ratios is obtained from the kinematic equation and the geometric constraint of each basic EGM.
運動綜合時，精確的齒數比可以從每一個基本周轉輪系的運動學方程和幾何約束方程中求出。 - It specifies the establishment of the kinematic equations and the Jacobin matrix.It also gives a detailed discussion on the singularity of the mechanism.
文章具體闡述該操作台的運動學方程和雅可比矩陣的建立過程，並詳細討論了機構的奇異性。
