【摘要】 论述变自由度机构的各种形式及其组成，分析其改变自由度的控制方法及其应用．文中所述机构除了刚性构件外，还包括柔性构件以及起构件作用的其他形式构件所组成的广义机构．文中还对开链机构与闭链机构，刚性机构与柔性机构之间的转换方法进行了论述．更多还原

【Abstract】 The indefinite freedom mechanisms mentioned in this paper includes the different generalized mechanisms composed of not only the rigid linksbut also the flexible links or other forms of link functioned as links. The paperalso expounds the transformation of the open chain linkage to the close one, andof the rigid linkage to the flexible one.更多还原