被约束刚体连续运动的充分必要条件

Sufficient and Necessary Conditions of Realizing Continuous Motion for a Restricted Rigid Body

在判别约束下刚体能否运动的约束功率判据的基础上，提出了“约束加功率”这一概念，并将“约束加功率为零”作为区分被约束刚体瞬时运动与连续运动的数学判据。给出了被约束刚体连续运动的充分必要条件，揭示了瞬时运动机构的机构学本质。

Based on the restricting power criterion of distinguishing whether a restricted rigid body can moveor not, the concept of derivative of restricting power is presented, and it is employed as the criterion of distinguishing the motion of a restricted rigid body to be instantaneous or continuous. Sufficient and necessary conditions that a restricted rigid body can move continuously are presented, and the mechanics essentiality of instantaneous mechanisms is revealed.