中文摘要：

以瓦特六杆机构为例，在复数域内建立了以角度为变量的复数形式机构分叉分析方程．基于分叉方程的多解性和奇异构型，应用奇异性理论，分析了多环机构的连续工作空间，以及奇异点机构分叉特性随机构的杆长、机架和主动件的变化而改变的情况．利用此研究结果，提出了用解析法获得多环机构全部奇异构型的方法。

英文摘要：

Based on a case study of the Watt linkage, the bifurcation equation with angle variables has been established in complex number field, The singularity theory is applied, on the basis of the multisolution of the bifurcation equation and the singular configuration, to analyze the change of the continual workspace and the bifurcation characteristic at the singular points for the Multi-loop Mechanism with different link lengths, frames and driving links. Finally, a resulted analytic approach for getting all singular configurations of multi-loop mechanisms is presented.