Rotation angle symbol method to identify circuit and branch of spherical four bar is presented in this paper. Finally, the method about application to spatial first group mechanism is elaborated.
最后由空间第一类机构与球面四杆机构的等效性，阐述了将此识别方法应用于第一组空间机构的方法。
2
Further structural decomposition of the driving unit, several planar six linkage and three bar four kinematic pair branch chains were gotten.