根据含复铰平面闭式运动链的基本参数，定义了度谱、构件谱和复铰谱。
The spectrums of degree, structural component and multiple hinges are defined according to the basic parameters of planar closed kinematic chain with multiple hinges.
在此基础上提出了含复铰平面运动链的谱分类方法，并给出了相应的算法。
The spectrum classification method for planar kinematic chain with multiple hinges was put forward by taking this as a base, and the relevant algorithm was presented.
提出了识别含复铰平面十杆运动链构件交叉的一种新方法。
This paper presents a new method to detect the bar-crossing in 10-link planar kinematic chain with multiple joint.
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