Based on type synthesis of the planar seven-bar kinematic chain, this paper put forward four kinds of basic kinematic chain and four kinds of derived kinematic chain.
对平面七杆机构运动链进行型综合，提出四种基本运动链和四种衍生运动链。
Firstly, by the theory of the four-bar linkage, the general rolling condition for the kinematic chain is concluded.
首先，通过对四杆机构的理论研究，提出了运动链滚动的一般条件。
Firstly, by the theory of the four-bar linkage, the general rolling condition for the kinematic chain is concluded.
首先，通过对四杆机构的理论研究，提出了运动链滚动的一般条件。
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