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将微分几何学中的曲线与曲线相伴方法发展到曲线与直纹面、直纹面与直纹面相伴方法，应用于机构运动几何学研究。分别以约束曲线和约束曲面为原曲线和原曲面，导出了连杆运动的瞬心线或瞬轴面及其不变量的表达式，揭示了其运动学意义，加之引入不动点、不动线和准不动线条件，完整地描述了连杆点和直线的轨迹与瞬轴面的内在联系。为机构运动几何学研究提供了新的有力工具。
The method of combining curves and curves in differential geometry is developed to the method of curve and ruled surface, ruled surface and ruled surface, which is applied to the study of mechanism kinematics. Constraints and constrained surfaces are used as the original curve and the original curved surface, respectively. The expressions of instantaneous center line or instantaneous axial plane and their invariants are derived and their kinematic significance is revealed. In addition, the fixed point is introduced and fixed Line and quasi-immobile conditions, a complete description of the connecting rod point and straight line trajectory and the intrinsic relationship between the instantaneous axis. It provides a new and powerful tool for the study of mechanism kinematics.