Closed form kinematic equations of main feed mechanism are established, one and two order effect coefficient matrixs are derived.
建立了主进给机构的封闭形式的运动学方程，导出了一、二阶运动影响系数矩阵。
2
The spectrums of degree, structural component and multiple hinges are defined according to the basic parameters of planar closedkinematic chain with multiple hinges.
根据含复铰平面闭式运动链的基本参数，定义了度谱、构件谱和复铰谱。
3
Using the mass dynamic substitution concept, the complete balancing of shaking force and shaking moment of closed loop spatial linkages may be reduced to that of open loop spatial kinematic chains.