The Wu Method was applied to the forward displacement analysis of planar basic kinematic chains. A 7-link Barravo truss which is associated with 6-link and 9-joint Assur groups was studied.
将吴方法运用到平面基本运动链的位移分析中，完成了一种7杆巴氏桁架的位移分析。
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The connection forms of all R joints of the Assur groups in the assembly forms are permutated step by step following the proposed connection constrains and isomorphism is detected in the process.
This paper presents a new method with driver transformation for the kinematic analysis of the planar mechanisms in high class, based on the Assur group theory and kinematic superposition principle.