The analysis of kinematical and dynamical model and mechanical characteristics are involved , and the emulation of the motion and dynamic is put into reality . the motion performance of the output varies because of the differently applied actuations 涉及到2r开链机构的运动学、动力学分析和机构特性研究，并且进行2r机构的运动学和动力学的仿真，针对不同的驱动配置研究输出点的运动性能。
The kinematic synthesis equations for rrr and rpr groups have been established , respectively , based on the single - opened - chain ( soc ) theory and displacement matrix method . combining two kinematic synthesis equations for rrr groups , this paper presents the unified kinematic synthesis equations for hinged 3 - bar groups which are applied in function synthesis of planar watt , stephenson , and 6 - bar linkages 基于单开链理论,应用位移矩阵法,分别建立了rrr和rpr两种级杆组的运动综合方程,再将两个rrr级杆组的综合方程联立,得到watt型及stephenson ,型六杆函数发生机构中铰链三杆组的统一运动综合方程组。
