从四杆机构具有灵活性和平面机构任意封闭图形具有3个约束数的理论出发,对机构学的自由度计算公式进行了研究。研究结果表明,新公式不仅比1896年俄国科学院院士契贝舍夫建立的公式更为简单明了,具有计算速度快的特点,而且还适用于单环、多环、开式链、闭式链、混合链、高副、周转轮系、汽车行星排及结构力学中的静定结构和超静定结构自由度的计算。为计算平面、球面机构与结构自由度提供了更为方便快捷正确的理论计算式。 Starting from the theory that the four-bar mechanism has the flexibility and the arbitrary closed-figure of the plane mechanism has three constraints, the formula for calculating the degree of freedom of mechanism is studied. The results show that the new formula is not only simpler and simpler than the one established by the academician Chebyshev of the Russian Academy of Sciences in 1896, but also suitable for single-ring, multi-ring, open chain, closed chain, Hybrid chain, high deputy, epicyclic gear train, automobile planetary row and structural mechanics in the statically determinate structure and the calculation of the degree of freedom of the indeterminate structure. For the calculation of plane, spherical mechanism and structural freedom provides a more convenient and efficient correct theoretical formula.