| 摘 要： | An input-output equation of the general spatial 7R mechanism is derived in this paperby using the method in 1] and applying the rotation matrices.The result is the same as2],but the process of derivation is simpler.Applying the character of rotation matrices,it is notdifficult to obtain the recurrence formulas of direction cosines of Cartesian unit vectors,tocalculate the scalar products and triple products of these unit vectors,and to derive the 6thconstraint equation.Moreover,an algorithm,which consists of successive applications ofrow transformation and expansion based on Laplace’s Theorem,is given to evaluate the16×16 determinant according to its characteristic.so that the evaluation is muchsimplified.
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