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利用矩阵理论对连杆机构的位置误差进行了分析，给出了有关的计算公式，并对铰链四杆机构进行了实际计算，其结果对各类连杆机构都具有普遍适用性。
Based on the matrix theory, the position error of the link mechanism is analyzed, the relevant formulas are given, and the calculation of the hinge four-bar mechanism is carried out. The results have universal applicability to all kinds of link mechanisms.