本文在阿尔托包列夫斯基关于机构分级和Goodman间接法概念的基础上,进一步提出一种解决四级以及三级机构加速度分析的图解计算法,分为二个步骤: 第一步变换四、三级机构的机架或起始构件,转换为级别较低的机构,以减小运动分析的难度。第二步对转换后的新机构,忽略起始构件未知角加速度,作辅助加速度图,以求某些未知的法向加速度或构件间的相对角加速度。 In this paper, based on the concept of mechanism classification and Goodman indirect method, Artolivski further proposed a graph calculation method to solve the acceleration analysis of the four-level and three-level institutions. The method is divided into two steps: , The three-stage machine frame or starting member, converted to a lower level of institutions to reduce the difficulty of motion analysis. The second step is to ignore the unknown angular acceleration of the starting member for the new mechanism after the conversion, and make the auxiliary acceleration map, so as to obtain some unknown normal acceleration or the relative angular acceleration between the components.