以下为句子列表：
英文: Utilizing the related transformation theory knowledge of spatial coordinates, kinematics analysis was carried out on the double rocker mechanism and the spatial mathematic model and the optimization model based on the minimum turning errors were establish
中文: 摘要运用空间坐标变换理论的有关知识，对双摇臂机构进行运动学分析，建立空间数学模型和基于转向误差最小的最优化模型。
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