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1·And it also got Jacobian matrix by using the speed superposition principle through regarding mobile platform as Generalized Kinematic Pair.

并将移动平台视为广义运动副，利用速度叠加原理完成了雅可比矩阵的求解。

2·Further structural decomposition of the driving unit, several planar six linkage and three bar four kinematic pair branch chains were gotten.

通过进一步对驱动单元进行结构分解，得到平面六杆机构及三杆四副支链等基本运动链。

3·A robust design method of planar linkage mechanism is proposed when the length errors of links and the kinematic pair clearances are taken into account.

考虑杆长制造误差和运动副间隙的影响，提出一种平面连杆机构的稳健设计方法。

4·According to the principle of substitution of the generalized kinematic pair, mobility of the complex loop mechanism composed by multiple sub — chain was studied.

并依据广义运动副替代原则，得到多个子链组合而成的复杂多环路机构的自由度。

5·Although a planar pair might theoretically be included, this would impose no constraint and thus be equivalent to an opening in the kinematic chain.

尽管理论上还可以包括平面，但平面却不能加以约束，因此只相当于开式运动链。

6·Kinematic analysis is carried out for the first time on constant-breadth arc CAM mechanisms with oscillating flat-faced follower by the method of replacing higher pair by lower pairs.

采用高副低代的方法，首次对平底摆动从动件等宽圆弧凸轮机构进行运动分析。

7·With the linear graph and adjacent matrix method of graph theory, the possible forms of this mechanism are discussed by analyzing that of kinematic chain with 4~8 links connected by planar low pair.

运用图论的线图和邻接矩阵方法从分析平面低副4～8杆运动链的可能形式出发，分析了以连杆为起始构件这类机构的可能有的形式。

8·Although a planar pair might theoretically be included, this would impose no constraint and thus be equivalent to an opening in the kinematic chain.

尽管理论上还可以包括平面副，但平面副却不能加以约束，因此只相当于开式运动链。