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1·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。

2·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.

根据提出的约束条件，采取逐级构造杆组邻接矩阵方法，求解杆组间的可行连接方式，并同步辨识同构体，从而获取全R副杆组间的连接关系的杆组邻接矩阵。

3·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.

本文依据阿苏尔杆组理论及运动迭加原理，提出了一种新的高级机构运动分析方法——变换原动件法。