During the course of computation , it is a practical way that as far as the reliable analysis of mechanism motion is concerned , formation and resolution of complex analytical equation is not needed 以曲柄滑块机构为例，研究考虑几何尺寸误差和运动副间隙误差对机构运动可靠性的综合影响。
With the increment of the operation speed of machines and the reduction of the mass of components , the joint damping has already been the important factor in the mechanism ' s dynamic research 由于机械设备的高速、轻量化发展，机构中运动副的阻尼已成为研究机构系统动力学响应时不可忽略的因素。
In this paper , we classify the pairs into two kinds - - traditional pairs and new composite pairs . the composite pair ' s coming forth made it easier to invent new type parallel manipulator 本文研究了构成运动支链的简单运动副和复合运动副类型，复合运动副的提出，使得新型并联机构的提出成为可能。
The amount and type of links and pairs determine not only basic function properties of mechanism but also basic structure properties , especially its motion and force ' s transmission and transformation properties 构件的数量、种类和运动副的数量、类型决定了机构的结构特征，也决定了机构的基本功能特征，特别是其运动及力的传递与变换的特征。
In the text , differential coefficient method and numerical value differential coefficient method have been introduced for crank slide block machine accuracy analysis , and influence of the fitting clearance of moving pair to component moving error has been given 文章介绍了微分法及数值微分法曲柄滑块机构精度分析，说明了运动副的配合间隙对构件运动误差的影响。
At the same time , based on prototype of grade mechanisms and their corresponding kinematic chain , study of mechanisms " creative design method that meet working needs and comprise usual kinematic chains becomes an important work in the world 同时，以级机构和对应的运动链为原型，进行能满足各种工作要求、包含各种常用运动副的机构创新设计方法的研究，也成为国内外一个重要的研究内容。
On the basis of kinematic analysis of the tripod universal joint , this paper analyses the motion errors of this system , which related to the manufacturing error , installation error , bearing clearance , and so on 摘要在三叉杆式万向联轴器的运动分析的基础上，充分考虑到机构制造和安装的不精确性，运动副轴承的间隙，作用于连杆上力及温度变化引起的连杆变形等因素，进行了三叉杆式万向联轴器运动误差分析。
By adopting the partial coordinates system and the turning angle of globe hinge the position of moving platform was described , and the influence on working space of parallel robot affected by factors of turning angle of motion pair , rod length and interference of branch chain etc . was analyzed 摘要选用局部坐标系和球铰的转角描述了动平台的位置，分析了运动副转角、杆长、支链干涉等因素对并联机器人工作空间的影响。
This approach accelerates the process of designing a new linkage scheme to match the required path curve , and the schematic diagram can be readily converted to a 3d configuration of the mechanism by mapping the linkages and joints to detailed parts chosen from a customized cad library 根据运动副类型和数目一致性原则，对机构构件与三维零件进行关联映射，实现了基于工程语义的机构三维建模技术，同时开发了原型系统并得到了应用验证。
The pairs and the legs of parallel manipulator are studied and modularized . a new construction theory of parallel manipulator is put forward . using the theory and the modules , a series of modular reconfigurable parallel manipulator are build up 主要研究了运动副和支链类型并对其进行了模块化分类和设计，提出一种新型并联机构综合理论，应用这个理论重组了一系列的可重组模块化并联机器人，对于并联机器人相关性能分析问题也进行了模块化构造。
