混合输入平面五杆机构具有两个自由度，其动力学模型是一个高度非线性和强耦合系统。
A hybrid input planar five-bar mechanism has two degrees of freedom, and its dynamic model is a highly nonlinear and strong coupling system.
本文建立了平面五杆机构尺寸型的空间模型，把五杆机构的全部尺寸型纳入到了一个有限的封闭空间内。
A spatial model for the link-length types of the 5-bar linkages is established in this paper.
混合输入五杆机构是最简单的平面并联机器人。
Hybrid input five bar mechanism is the simplest planar parallel robot.
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