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介绍了子装配体内部运动自由度的概念及计算方法，给出了基于内部运动自由度的子装配体稳定性判别条件，且具有一定的通用性。经稳定性判别后可以大大缩小装配顺序规划中的方案数，可用于装配方案的选择及降低装配成本。
The concept and calculation method of the degree of freedom of movement inside the subassembly are introduced. The condition of the stability of the subassembly based on the degree of freedom of internal movement is given and has some generality. After the stability of the decision can be greatly reduced the number of programs in the assembly sequence planning can be used for assembly options and reduce assembly costs.