中文摘要：

针对混联机构结构的耦合性和复杂性问题,提出了以广义运动链等效分析法来求解此类混联机构的自由度.基于约束螺旋理论,对一种树状混联机构的约束及运动进行分析,采用广义运动链替换法,将混联机构中的复杂环路等效为等自由度的广义运动链,从而将复杂机构转化为简单机构,正确求得自由度的数目和性质.结果表明：该方法可有效化简机构的复杂结构,简化分析过程.

英文摘要：

To solve the complex and couple problem of the hybrid mechanism, an equivalent method of generalized-kinematic-chain was put forward to obtain the mobility. Based on the screw theory, the constraint and mobility of a dendriform-hybrid mechanism was analyzed using the method of generalized- kinematic-chain replacement, and the complicated mechanism was transferred into a simply mechanism, thus the correct mobility was obtained. Result shows that the method can effectively simplify the structure of a hybrid mechanism, and provides a certain theoretical basis for further analysis of complex coupled mechanisms.