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中文摘要：
从纯粹几何学角度来探讨铰接杆系机构的运动分析问题。利用几何条件推导了机构位移的控制方程，并提出了一种更精细的机构运动路径的求解策略。阐明杆系机构运动路径极值点的数学特征。证明了当某节点运动到其极值点时，当前构型的所有机构位移模态对应于该节点的分量均必须为零，并以此作为判别和跟踪运动路径极值点的准则。该文还对杆系机构极值构型的特殊几何特征进行了理论说明。最后通过两个数值算例来考察该文方法的计算精度和有效性。
英文摘要：
The kinematic analysis of pin-bar mechanisms is carried out from purely geometrical views. Based on geometrical conditions, the kinematic governing equation of mechanism displacement is established. An improved numerical strategy is developed to calculate the kinematic paths of pin-bar mechanisms. The mathematical property of the limit point in kinematic path is clarified. When a joint in pin-bar mechanism reaches its kinematic limit point, its corresponding components in all modes of mechanism displacements are proved to be equal to zero. This characteristic can be adopted as a criterion to determine and numerically trace the limit point of kinematic path. Furthermore, a special geometrical phenomenon of limit configuration is probed and explained theoretically. Two numerical examples are employed to investigate the accuracy and validity of the method put forward in this paper.
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