The plane linkage was generalized to a root-face hybrid system that composes of a planar particle system and a planar rigid body system.

根据平面连杆机构的组成特点，将平面连杆机构抽象成由平面质点系和平面刚体系组成的一个有根平面混合系统。

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The plane linkage was generalized to a root-face hybrid system that composes of a planar particle system and a planar rigid body system.

根据平面连杆机构的组成特点，将平面连杆机构抽象成由平面质点系和平面刚体系组成的一个有根平面混合系统。

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