中文摘要：

应用空间机构自由度计算公式和螺旋理论，分析了单闭环一自由度过约束机构的约束数目、运动副数目和自由度数目之间的关系。应用虚功原理，以解析的方法，给出了独立过约束数分别为1、2、3时的力约束和力偶约束，以及力和力偶任意组合条件下的运动副综合过程。分析了在特定过约束组合下，机构满足非瞬时运动的条件，给出了组成机构的运动副数目、运动副排列方式和运动副轴线布置的空间装配条件，并给出了典型机构的设计范例。

英文摘要：

Based on the calculation formula of the degree of freedom（DOF） for spatial mechanisms and screw theory, the relationship among the number of constraints,kinematic pairs and DOF of single closed--loop over- constrained mechanism with one DOF was analyzed. Then, by using virtual principle and analytical method, the constraint force and coupling with independent constraint number： one,two and three, respectively as well as synthesis condition with arbitrary combination were studied. Given specific constraint combination, the condition of satisfying non--instantaneous motion was analyzed, the number and arrangement of kinematic pairs and spatial geometrical assembly condition of pairs ＇ axis layout were presented,additionally, typical mechanisms were illustrated.