Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains.
其基本思路是通过质量动替代的途径，将空间闭链机构摆动力和摆动力矩的完全平衡转化为空间树状链摆动力和摆动力矩的完全平衡。
Such endeavor promoted the substitution of the traditional and unidirectional linear economy for the material closed-loop flow circulation economy having material circulation utilization as its core.
这种努力促使以物料循环利用为核心、物质闭环流动型的循环经济，取代传统的、物质单向流动的线性经济。
According to the principle of substitution of the generalized kinematic pair, mobility of the complex loop mechanism composed by multiple sub — chain was studied.
并依据广义运动副替代原则，得到多个子链组合而成的复杂多环路机构的自由度。
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