The necessary condition for the existence of double crank of five - bar linkage with two degree of freedoms is derived on the basis of assembling conditions.
根据装配条件推导了二自由度五杆机构的双曲柄存在的必要条件。
According to the condition of crank existence, all types of 5-bar linkage with 2-degree of freedom are synthesized by linkage mould in extreme position.
根据以机构极端位置建模导出的曲柄存在条件，应用机架变换法导出了两自由度铰链五杆机构（不论连架杆是否为主动件）的全部类型。
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