中文摘要：

给出了机构基元的定义，提出了连杆机构工程语义的描述方法，实现了基于工程语义的机构轨迹曲线方程的算法．对轨迹曲线进行匹配运算，可快速地获得满足预定轨迹要求的机构设计方案，实现机构的反求设计．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。

英文摘要：

A kinematic chain portion composed of two linkages and three lower pairs are taken as primary cell and classified into different schemes. A comprehensive classification of linkage mechanism concerning the composition of primary cells, the pattern of motion driving, and the way of fixing to stationary frame is established with the corresponding semantic description. 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.