本文从机构的自由度、网络环路的欧拉方程、缩图等概念出发,提出用“移杆法”进行平面连杆机构的类型综合。提出关联矩阵的性质,推导出同型机构和等价关联矩阵关系的定理。并附有通过电算验证的双自由度九杆机构的四十种结构型式。 In this paper, the concept of freedom of mechanism, Euler equation of network loop, thumbnail and so on is put forward, and the type synthesis of planar linkage mechanism is proposed by using the “shift rod method”. Proposed the nature of the correlation matrix, deduced the theorem of the relationship between the same type of institutions and the equivalent correlation matrix. And accompanied by a computerized verification of the two degrees of freedom nine institutions forty structures.