一、概述空间开式链机构综合,不仅直接应用于工业机械手、仿生机械及自动机执行机构的设计中,同时也是按连杆运动要求对闭式机构进行综合的基础。在开式链机构的研究中,为使末动杆获得复的杂运动,多借助由转动副 R,移动副P,圆柱副 C 和球面副 S 等所连接的中介动杆时末动杆进行导向运动,故亦称刚体导引结构. First, an overview Spatial open chain mechanism synthesis, not only directly applied to the design of industrial robots, bionic machinery and automatic machine actuators, but also according to the connecting rod movement requirements of the closed-end institutions to be integrated foundation. In the study of the open chain mechanism, in order to obtain complex miscellaneous motions of the final movement rod, the final movement rod is often used when the intermediate movement rod connected by the turning pair R, the moving sub-pair P, the cylindrical sub-set C, and the spherical surface pair S, etc. Guided movement, it is also known as rigid guide structure.