No. Kind B '9 R R ax 2 0 o a帥 2 π/2 Number of constraint equations:2 Φm(2)=X2 3=4-2 No. Kind B 心 o R 9 B, R C cff 1 To 1.25 0 Number of constraint equations:1 1,2) (B,4)P-】 gBu where -[] B2=RA12= 「-sin(p2-)-cos(2-4) cos(2-4,) -sin(p2-,)」 =--[9 gB45=sin(02-4-a,) [-] n"-r=n+A(sio+pui)-n-As2e,ui= cOS 1 p1=1.25 sin a x1-x2+1.25cos(4+a1)+15cos42 --为+125sm6+a+15sn」No. Kind Bi P i s Q i s Ri i B j P j s Q j s R j j C 3 ax 2 0 0 0 4 a 2 /2 Number of constraint equations:2 2 ( 2 ) x ax 2 2 (2) aNo. Kind Bi P i s Q i s Ri i B j P j s Q j s R j j C 5 cff 1 0 0 1.25 2 1 15 0 15 Number of constraint equations:1 1 12 2 (1,2 ) 2 2 1 2 g B u B u r r T T P Q cf where 1 1 1 cos sin g , 2 1 2 1 2 1 2 1 12 12 cos sin sin cos B RA , 1 0 2 2 2 Q P u s s , 1 12 2 2 1 1 g B u sin T 2 2 2 2 2 2 2 2 sin cos 1 0 cos sin sin cos B u P Q Q Q 1 2 1 1 1 1 1 2 2 2 r r r A s u r A s , 1 1 1 sin cos u , 1.25 1 1 2 1 1 2 1 2 1 1 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 2 1.25 sin 15 sin 1.25 cos 15 cos 0 15 sin cos cos sin sin cos sin cos cos sin 1.25 y y x x y x y x P Q r r