本文介绍一种机械系统运动学分析的通用方法。文中根据多刚体系统运动学的原理,建立了受约束机械系统的运动约束方程、速度方程及加速度方程,还详细推导了以铰接副及滑动副连接的两邻接刚体的雅可比矩阵和加速度方程右边项,以求进一步说明本方法。文后还给出了实例。 This article describes a general method of kinematic analysis of mechanical systems. According to the principle of multi-body system kinematics, the motion constraint equations, velocity equations and acceleration equations of the constrained mechanical system are established. The Jacobian matrix of the two adjacent rigid bodies connected by hinging pair and sliding pair and the right-hand side of the acceleration equation Item, in order to further explain this method. The article also gives examples.