连杆机构
In spheric linkages, the axes of all revolute pairs must intersect at point. 在球面连杆机构中，所有的转动副的轴必在一点上相交。
Two analysis methods for the planar linkages with high class Assur groups are presented. 本文对平面带高级阿苏尔组连杆机构的运动分析提出两种算法。
