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由球面对踵三角理论和球面三角形余弦定理 ,得出球面三角形在其三边恒定的情况下有两种构型及其这两种构型的特点 ;通过分析得出了球面四杆机构回路特性是由其输出构件与连杆所构成的球面三角形的两种构型决定的结论 ,提出了球面四杆机构的回路和分支识别的转角符号法 ;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。这对于机构综合有重要的参考价值
From the spherical to the heel triangle theory and the spherical triangular cosine theorem, it is concluded that there are two configurations of spherical triangles with their three sides constant and the characteristics of the two configurations. The spherical four-bar mechanism circuit The characteristic is determined by the two configurations of the spherical triangle formed by the output member and the connecting rod. The symbolic method of the rotation and branching of the spherical four-bar mechanism is proposed. Finally, The equivalence of institutions, and the method of applying this method of identification to the first group of space agencies. This is an important reference for the organization