Compared with traditional "isogonal transformation method", all geometric parameters of the leaf curved surface may be calculated exactly.

与传统的“等角变换”法比较,可精确计算叶片的全部几何参数。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节的运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效率。