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以两原动件运动的任意组合使机构运转到最难达到的位置作为机械模型，推导出两自由度五杆机构的可动性充分条件。提出的两种五杆两自由度机构的可动性充分条件为机构尺寸综合提供了尺寸约束条件。这一原理和方法也可以用于更为复杂的两自由度机构
The mechanism is operated to the most difficult position by using any combination of the motions of the two motions as the mechanical model, and the sufficient condition for the mobility of the two-freedom five-bar mechanism is deduced. The proposed two kinds of five-bar two degrees of freedom mechanism of the sufficient conditions for the mobility of the mechanism to provide a dimensional synthesis of size constraints. This principle and method can also be applied to more complex two-degree-of-freedom mechanisms