中文摘要：

机构通用的自由度公式是一个150年没解决的问题。本文首先介绍了这个问题的来龙去脉,介绍历史上先后出现的那些不服从自由度G-K公式的反常机构,又有哪些学者研究过这个问题,他们的方法有什么特点,介绍Gogu总结出的那些反常的古典机构和现代并联机构,在这里它们被称为机构自由度的＂GG问题＂。接着,文章着重介绍黄真和他的学生提出的新的基于反螺旋理论的自由度原理和修正的G-K公式,介绍他们在自由度问题上的研究过程、方法和特点。并以＂GG问题＂中的详尽的古典和现代机构的例子,证明这个方法和公式的通用性、统一性,证明这个方法解决问题具有的强大能力,特别适合当今的多自由度、过约束、甚至某些多环耦合机构,最终证明他们解决了自由度这个古老问题。

英文摘要：

The mechanism unified-mobility-formula issue has experienced over 150 years.In the beginning of this paper,it introduces the development of the mobility issue,and the Puzzle or Paradoxical mechanisms which do not suit the mobility G-K Criterion,and those scholars who studied the issue and proposed theirs formulas and methods,and also analyzed the characteristics of those methods.Then,the paper introduces the abnormal classical and mordern parallel mechanisms collected by Gogu,which is named as mechanism-mobility ＂GG Issue＂.In the second part,the paper focuses on the new mobility principel and the Modified G-K Criterion,based on reciprocal screw proposed by Huang and his students.It introduces the research process and characteristic of the method.It analyzes how to demonstrate the method to be uniform and universal by using all the examples in ＂GG Issue＂ and which denotes the method has great power for solution mobility issue and is suitable the mordern multi-DOF,overconstraint,even muliloop-coupling mechasms.All above-mention indecates that they has solved the 150-year issue.