对平面六杆瓦特型机构中间杆固定铰链中心位置的调节进行了分类，并给出了约束方程。
The adjustment of pivot position of the middle link in planar 6-link Watt-type linkage is classified. The corresponding constraint equations of each mechanism are presented.
对平面六杆瓦特型机构中间杆固定铰链中心位置的调节进行了分类，并给出了约束方程。
The adjustment of pivot position of the middle link in planar 6-link Watt-type linkage is classified. The corresponding constraint equations of each mechanism are presented.
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