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(一)公共约束的概念在П.Л.戚贝谢夫于1869年首创了计算平面机构的自由度的公式之后,苏联学者В.В.陀勃罗伏耳斯基于1943年提出了一个比较完善的计算机构自由度的公式
The Conception of Public Constraints After the establishment of the formula for calculating the degree of freedom of a planar institution by Qiberbev in 1869, the Soviet scholar В.В. Toprov Robles developed a comparison based on 1943 The perfect formula for computing freedom of the mechanism