用变分方法证明了二阶奇异平面哈密顿系统的同宿轨道的存在性。

The existence of a homoclinic orbit for a singular second order planar Hamiltonian system is proved by using variational methods.

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因此，该方法可求解所有复杂的多回路平面机构及操作手的奇异位置分析。

Therefore, this method is able to solve the singular position of all complicated multilooped planar linkages and manipulators.

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提出了求解任意复杂多回路平面连杆机构及操作手奇异位置分析的模块法。

This paper offered a module approach for solving the singular position of arbitrary complex multilooped planar linkages and manipulators.

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