在机构中，有些运动副的约束与另外的运动副的约束可能是重复的。因而，这些约束对于机构的运动实际上并没有起到约束的作用。故称这类约束为虚约束。
本文论述了机构中存在虚约束的充分必要条件及虚约束的判定准则。
The paper discusses the criterion for deciding virtual constraint and the sufficient and necessary conditions for the constraint existing in mechanisms.
平面机构中虚约束的存在，给制造加工和机构运动分析带来了诸多不便。
Virtual restraint in planar mechanism brings about many problems to machining and mechanism movement analysis.
建立了含有虚约束的多相并列平行曲柄机构受力分析模型。在此基础上分析计算了三环减速器的轴承载荷和高速轴曲柄上的转矩；
The load of planetary bearings and the moment in the high speed shafts are analyzed and some suggestions about the structure type and design parameters of the three ring reductor were a…
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