结果：本研究设计了一种以曲柄双滑块机构为核心的被动式下肢功能康复训练器，可以实现多种不同形式的训练。
Result: A training machine was designed which consists of one crank and two sliding plates. The principle and structure and using method are demonstrated in this paper.
本机构由两组曲柄滑块机构串接而成，双作用气缸驱动，实现机械手的主爬升运动。
The mechanism driven by a bidirectional pneumatic cylinder for climb robot is composed of two groups of slider-crank mechanism in series.
本文介绍了双万向节——齿轮组合机构与三滑块摆动导杆机构之组合机构的运动分析、优化设计。
This paper presents the kinematic analysis and the optimal design on the combined mechanism of double universal joints gears and the oscillating guided bar mechanism with three slides.
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