本文依据阿苏尔杆组理论及运动迭加原理，提出了一种新的高级机构运动分析方法——变换原动件法。

This paper presents a new method with driver transformation for the kinematic analysis of the planar mechanisms in high class, based on the Assur group theory and kinematic superposition principle.

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提出一种基于螺旋系线性相关性和约束反螺旋概念的空间并联机器人输入原动件选取合理性的判别方法。

Based on the concepts of reciprocal screws and their linear correlativity, a detecting method of input interference in a spatial parallel manipulator is presented.

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在曲柄摇杆机构中，当以摇杆为原动件时，工作一个循环以后，直观看出有两次死点位置出现。

In the crank and rocker mechanism, when the rocker acts as the driving link, there will be two dead points in one working cycle.

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