含间隙平面连杆机构运动分析的杆组法──(1)求解含间隙基本二级杆组的数学模型

The Assur Groups Method of Kinematic Analysis of Planar Linkage with Pair Clearances (1) The mathematical model of the basic second grade Assur Groups with pair clerance

建立了考虑运动副间隙的五种基本类型二级杆组的数学模型，并据此编制了求解含间隙二级杆组的通用子程序和一些辅助子程序，从而使传统的杆组法能够应用于含间隙平面连杆机构的运动误差分析。

The mathematical models are established for five kinds of the basic second grade Assur Groups with pair clearances,and based on them the corresponding subroutines are programed.So,the Assur Groups method can be used for the motion error analysis of planar linkage with pair clearances.