工作空间的研究是平面闭链机器人的基本问题之一。
Study of workspace of plane closed-loop robot is one of basic problems.
根据含复铰平面闭式运动链的基本参数，定义了度谱、构件谱和复铰谱。
The spectrums of degree, structural component and multiple hinges are defined according to the basic parameters of planar closed kinematic chain with multiple hinges.
其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。
Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains.
其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。
Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains.
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