建立了球形防自转机构的模型，分析了其工作原理，将球形防自转机构简化为平行四连杆机构。
A mechanical mode1 of anti-rotation mechanism with balls was established, and its operation principle is analysed, where the con-figuration of simplified parallel four-connecting rods was employed.
该拍动机构采用平行四边形连杆机构使安装在尾鳍架上的机构鱼的尾鳍作周期 性的平移运动。
The flapping mechanism adopts a parallel quadrilateral connecting rod mechanism to lead the tail fin of the robotic fish arranged on a tail fin frame to make periodic translational motion.
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