中文说明：
4RRR运动学相关程序，添加了多种解决方案，也是一个不断变化的图形用户界面，对几乎所有的模拟参数允许使用。
English Description：
4RRR kinematics related programs add a variety of solutions. It is also a changing graphical user interface, which is allowed to be used for almost all simulation parameters