Performance Analysis of a Six-bar Linkage Pumping Unit Based on a Small Fluctuations Load Shape

Crank shaft net torque of pumping units is a volatile alternating load, while output torque of a general motor is basically constant. Thus, load characteristics of pumping units and motors are not able to ＂harmoniously＂ match each other; this resulted in a higher output of the motor, lower efficiency, and higher energy consumption of the pumping units. A new six-bar linkage pumping unit is presented according to moment-changing theory. It allows to adjust automatically following the changes of polished rod load, and achieves small crank shaft curve fluctuation. The new pumping unit improves motor efficiency, reduces motor output power, and saves energy. According to the design scheme, kinematics and kinetics models of the new six-bar linkages pumping unit are built up. An optimum design on the main peoCormance parameters and functional analysis were peoCormed.

CALCULATION OF NATURAL FREQUENCIES FOR THE PLANAR SIX-BAR LINKAGE OF WATT TYPE

By using transfer matrix,the lower-order natural frequencies of the Watt type planar six-barlinkage are calculated in this paper.The experiment of the modal analysis is done with the SignalProcessor 7T17S,and the experiment results agree with the calculated ones.This method only re-quires calculation of lower-order transfer matrix and determinant values,so that, it can be done ona minicomputer such as IBM/PC.The method adopted in this paper is also suitable for vibrationanalysis of other types of linkages.

A Miniaturized Crawler Design Based on an Origami-inspired and Geometrically Constrained Spherical Six-bar Linkage

This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.

The Interventional Capacity of Community Health Volunteers for Screening and Linkages of Non-Communicable Diseases in Nyeri County, Kenya

Non-communicable diseases (NCDs) account for 63% of mortalities. Approximately 80% of these NCD-related deaths occur in LMICs. A quasi-experimental study utilizing a non-equivalent pre-and post-test was conducted from May 2022 to March 2023 with 370 study participants. Multistage cluster and random sampling were used to select ten community units, and therefore, 150 CHVs were chosen for the control unit, and 150 were used to form the interventional group. Data was collected from the KOBO app. Six (6) homogenous FGDs comprised ten members, and 10 KII were conducted across study sites. Quantitative data was analyzed using SPSS version 28.0, and qualitative data was audio-recorded, transcribed, and analyzed via N-Vivo 12. The study shows that 59.3% of respondents have minimal information, and 92.7% (n = 139) have no clear understanding of NCDs, with a pre-intervention capacity of 48.8%. Independent sample t-test showed a significant difference in capacity from a pre-intervention average of 48.75 (SD ± 5.7)%, which increased to 68.28 (SD ± 7.6)%, p < 0.001. A well-designed community interventional model plays a pivotal role in grassroots healthcare delivery but requires optimization for NCD management.

Chronic Hepatitis B in Indian Americans: Lack of Screening and Poor Linkage to Care

Background: Chronic hepatitis B (CHB) is a major cause of liver-related morbidity and mortality in the United States (US) and globally. CHB disproportionately affects Asian Americans and many other immigrant minority populations, primarily owing to the high prevalence of CHB in their countries of origin. India is a country with a medium-to-high prevalence of hepatitis B (HB) (>2%) and has over 40 million people infected with hepatitis B virus (HBV), with more than 115,000 deaths annually from HBV-related complications. Indian Americans are one of the largest immigrant populations in the US but remain underdiagnosed and poorly linked to clinical care. We, therefore, assessed the HBV prevalence and evaluated the linkage-to-care (LTC) among Indian Americans to develop strategic plans to reduce the impact of HBV in the US. Methods: Between April 2022 and January 2024, serologic screening and surveys were provided to 328 Indian American adults (age 20 - 80) in New York City. All participants were tested for a triple panel consisting of hepatitis B surface antigen (HBsAg), hepatitis B surface antibody (anti-HBs), and hepatitis B core IgG antibody (anti-HBc). A survey was conducted on the subjects chronically infected with HBV regarding their histories of infection. Self-administered questionnaires were employed to evaluate demographic and epidemiologic characteristics. Results: Of 328 screened and evaluated (246 males and 82 females), 10 (3.0%) were HBV-infected, 222 (67.7%) were susceptible to HBV, and 96 (29.3%) were immune. The prevalence of chronic HBV varied between the age groups: 4.6% (age 20 - 40), 3.4% (age 41 - 60), and 1.7% (age 61 - 80). Of 10 chronically infected, only two subjects had been previously diagnosed but were not engaged in care. Conclusion: HBV disproportionately affects Asian Americans, primarily owing to immigration from parts of the world where the disease is endemic. Indian Americans belong to an intermediate-risk group, with an HBV prevalence of >2%, but remain underdiagnosed and poorly linked to care. Our pilot study on Indian American populations, the first of its kind, demonstrates a 3% prevalence of CHB, none of whom are linked to care. In addition, this population has a high percentage of unimmune subjects, creating a large reservoir for future infection. With the growing population of Indian Americans, our findings can be used to develop community-based strategies for HBV screenings and LTC that target high-risk groups.

基于MSPA-Linkage Mapper的福州滨海长乐区生态网络构建与优化

构建生态网络是改善城市生态环境和维持生态服务功能的重要举措。以福州市长乐区为例,基于形态空间格局(MSPA)、Linkage Mapper和重力模型提取各级潜在生态廊道及生态节点,构建并优化长乐区生态网络。结果表明:1)基于MSPA识别出所有景观类型,核心区面积最大(245.36 km^(2)),占所有景观类型的73.61%,结合核心源地连通性评价,筛选出11个核心生态源地;2)通过Linkage Mapper、重力模型提取研究区潜在生态廊道共32条,1级廊道11条,2级廊道10条,3级廊道11条,主要分布在研究区南北部纵向连接,尚未形成整体的网络连接;3)采用Barrier Mapper、Pinch point综合识别生态节点,1级生态节点17个,2级生态节点12个、3级生态节点8个,确定各类型生态修复关键区域,提出生态暂歇点建设策略。研究结果为长乐区域生态可持续发展及建设生态保护重点区时序性研究提供参考意义。

基于Linkage Mapper与复杂网络的成都市生态网络构建与优化

城市化速度加快,城镇内部生态斑块破碎,生态廊道隔断,区域可持续发展受到阻碍。构建生态网络可以连接破碎斑块,保护生物多样性与地域特色。以成都市为例,基于形态学空间格局分析(morphological spatial pattern analysis, MSPA)方法并结合景观连通度指数确定生态源地,从地形、景观结构、人类活动三方面确定阻力因子来构建综合阻力面,基于ArcGIS水文分析原理和linkageMapper识别生态廊道和生态节点,利用复杂网络增边优化理论,对研究区处于高阻力值且介中心性低的点进行模拟增边,最后对比增边前后的稳定性,验证增边效果。结果表明:1)成都市生态源地主要分布在西部林区,东部和中部较为稀疏。2)成都市阻力值呈现由中部向外部降低趋势,中心都市圈阻力值最高。3)基于GIS共提取111条生态廊道、209条辐射道、101个生态节点。4)识别出增边优化节点8个,成功模拟增加11条生态廊道,模拟增边优化后网络稳定性明显提升,网络连通性增强,网络结构整体更为稳定。

Fragmentation stability and retention time-shift obtained by LC-MS/MS to distinguish sialylated N-glycan linkage isomers in therapeutic glycoproteins

Sialylated N-glycan isomers withα2-3 orα2-6 linkage(s)have distinctive roles in glycoproteins,but are difficult to distinguish.Wild-type(WT)and glycoengineered(mutant)therapeutic glycoproteins,cytotoxic T lymphocyte-associated antigen-4-immunoglobulin(CTLA4-Ig),were produced in Chinese hamster ovary cell lines;however,their linkage isomers have not been reported.In this study,N-glycans of CTLA4-Igs were released,labeled with procainamide,and analyzed by liquid chromatography-tandem mass spectrometry(MS/MS)to identify and quantify sialylated N-glycan linkage isomers.The linkage isomers were distinguished by comparison of 1)intensity of the N-acetylglucosamine ion to the sialic acid ion(Ln/Nn)using different fragmentation stability in MS/MS spectra and 2)retention time-shift for a selective m/z value in the extracted ion chromatogram.Each isomer was distinctively identified,and each quantity(>0.1%)was obtained relative to the total N-glycans(100%)for all observed ionization states.Twenty sialylated N-glycan isomers with onlyα2-3 linkage(s)in WT were identified,and each isomer's sum of quantities was 50.4%.Furthermore,39 sialylated N-glycan isomers(58.8%)in mono-(3 N-glycans;0.9%),bi-(18;48.3%),tri-(14;8.9%),and tetra-(4;0.7%)antennary structures of mutant were obtained,which comprised mono-(15 N-glycans;25.4%),di-(15;28.4%),tri-(8;4.8%),and tetra-(1;0.2%)sialylation,respectively,with onlyα2-3(10 N-glycans;4.8%),bothα2-3 andα2-6(14;18.4%),and onlyα2-6(15;35.6%)linkage(s).These results are consistent with those forα2-3 neuraminidase-treated N-glycans.This study generated a novel plot of Ln/Nn versus retention time to distinguish sialylated N-glycan linkage isomers in glycoprotein.

Construction of a high-density SSR genetic linkage map and identification of QTL for storage-root yield and dry-matter content in sweetpotato

Sweetpotato(Ipomoea batatas(L.)Lam.)is a widely grown food crop especially in developing countries.Increasing storage-root yield and dry-matter content has been the main breeding objective of the crop,and DNA marker-assisted breeding is needed for this purpose.In this study,using a mapping population of 500 F1 individuals from a cross between Xushu 18(female)and Xu 781(male),we constructed a highdensity genetic linkage map of sweetpotato using 601 simple-sequence repeat(SSR)primer pairs.The Xushu 18 map contained 90 linkage groups with 5547 SSR markers and spanned 18,263.5 cM,and the Xu 781 map contained 90 linkage groups with 4599 SSR markers and spanned 18,043.7 cM,representing the highest genome coverage yet reported for sweetpotato.We identified 33 QTL for storage-root yield and 16 QTL for dry-matter content,explaining respectively 6.5%–47.5%and 3.2%–18.9%of variation.These results provide a foundation for fine-mapping and cloning of QTL and for marker-assisted breeding in sweetpotato.

Identification of the candidate gene controlling tiller angle in common wheat through genome-wide association study and linkage analysis

Wheat tiller angle(TA)is an important agronomic trait that contributes to grain production by affecting plant architecture.It also plays a crucial role in high-yield wheat breeding.An association panel and a recombinant inbred line(RIL)population were used to map quantitative trait loci(QTL)for TA.Results showed that 470 significant SNPs with 10.4%–28.8%phenotypic variance explained(PVE)were detected in four replicates by a genome-wide association study(GWAS).Haplotype analysis showed that the TA_Hap_4B1 locus on chromosome 4B was a major QTL to regulate wheat TA.Ten QTL were totally detected by linkage mapping with the RIL population,and QTA.hau-4B.1 identified in six environments with the PVE of 7.88%–18.82%was a major and stable QTL.A combined analysis demonstrated that both TA_Hap_4B1 and QTA.hau-4B.1 were co-located on the same region.Moreover,QTA.hau-4B.1 was confirmed by bulked segregant RNA-Seq(BSR-Seq)analysis.Phenotypic analysis showed that QTA.hau-4B.1was also closely related to yield traits.Furthermore,Traes CS4B02G049700 was considered as a candidate gene through analysis of gene sequence and expression.This study can be potentially used in cloning key genes modulating wheat tillering and provides valuable genetic resources for improvement of wheat plant architecture.

Study on the disaster caused by the linkage failure of the residual coal pillar and rock stratum during multiple coal seam mining:mechanism of progressive and dynamic failure

Multi-seam mining often leads to the retention of a significant number of coal pillars for purposes such as protection,safety,or water isolation.However,stress concentration beneath these residual coal pillars can significantly impact their strength and stability when mining below them,potentially leading to hydraulic support failure,surface subsidence,and rock bursting.To address this issue,the linkage between the failure and instability of residual coal pillars and rock strata during multi-seam mining is examined in this study.Key controls include residual pillar spalling,safety factor(f.),local mine stiffness(LMS),and the post-peak stiffness(k)of the residual coal pillar.Limits separating the two forms of failure,progressive versus dynamic,are defined.Progressive failure results at lower stresses when the coal pillar transitions from indefinitely stable(f,>1.5)to failing(f,<1.5)when the coal pillar can no longer remain stable for an extended duration,whereas sud-den(unstable)failure results when the strength of the pillar is further degraded and fails.The transition in mode of failure is defined by the LMS/k ratio.Failure transitions from quiescent to dynamic as LMS/k.<1,which can cause chain pillar instability propagating throughout the mine.This study provides theoretical guidance to define this limit to instability of residual coal pillars for multi-seam mining in similar mines.

Genetic linkage mapping and QTL identification for salinity tolerance in Indian mustard(Brassica juncea L.Czern and Coss.)using SSR markers

Soil salinity is one of the major environmental constraints that limits crop yield and nearly 7%of the total area worldwide is affected by salinity.Salinity-induced oxidative stress causes membrane damage during germination and seedling growth.Indian mustard is a major oilseed crop in India and its production and productivity are severely affected by salt stress.Breeding Brassica cultivars for salinity tolerance by conventional means is very difficult and time-consuming.Therefore,understanding the molecular components associated with salt tolerance is needed to facilitate breeding for salt tolerance in Brassica.In this investigation,quantitative trait loci(QTLs)associated with salt tolerance were identified using F_(2:3)mapping population developed from a cross between CS52(salinity tolerant)and RH30(salinity sensitive).Parents and F_(2:3)were evaluated under controlled and salinity stress conditions for 14 morpho-physiological traits for two consecutive generations(F2 and F_(2:3)),explaining proportion of the phenotypic variance under control condition.Simple sequence repeat(SSR)markers were used for mapping studies.A genetic linkage map based on 42 simple sequence repeats(SSRs)markers was constructed covering 2298.5 cM(Haldane)to identify the loci associated with salt tolerance in Brassica juncea.Forty-one SSRs showing polymorphism in the parents(CS52 and RH30)were mapped on 8 linkage groups(C1–C8).One marker(nga 129)did not map to any of the linkage group and was excluded from mapping.Linkage group 5(C5;317.9 cM)was longest and linkage group 1(C1,255.0 cM)was shortest.Further,we identified 15 QTLs controlling 8 traits using F_(2:3)population.These QTLs explained 12.44–60.63%of the phenotypic variation with a LOD score range of 3.62–5.97.Out of these QTLs,QMI4.1 related to membrane injury showed 51.28%phenotypic variance with a LOD score of 3.34.QTL QBYP8.1 related to biological yield per plant showed 60.63%phenotypic variance at a LOD score of 3.62.The highest LOD score of 5.97 was recorded for QTL related to seed yield per plant(QSYP4.1).Major QTLs were QTL for biological yield per plant(QBYP8.1),QTL for siliquae per plant(QSP4.1),QTL for primary branches(QPB4.1),QTLs for seed per siliqua(QSS4.1,QSS4.2),QTL for seed yield per plant(QSYP4.1),and QTL for membrane injury(QMI8.1)which showed more than 50%phenotypic variance.These QTLs identified in our study need to be confirmed in other populations as well so that these can be used in marker-assisted selection and breeding to enhance salt tolerance in Brassica juncea.

A Study on the Interest Linkage Mechanism of the Taxus Industry Chain in Pengshui Miao and Tujia Autonomous County

At the Taxus base of Pengshui Miao and Tujia Autonomous County,Chongqing,the comprehensive development and utilization of Taxus was carried out with seedling cultivation,understory economy,product processing,ecotourism and other aspects as the main line.The benefit linkage mechanism of the operation of the Taxus industrial chain was explored and analyzed,so as to extend and supplement the Taxus industrial chain.The two models of"company+farmer"and"company+village collective+farmer"are relatively close benefit linkage models,which indirectly promote the increase of farmers income and smoothly guarantee the operation of the industrial chain,thereby playing a positive role during the development of the Taxus industry.This study provides reliable countermeasures and suggestions for the sustained and healthy development of the Taxus industry in Pengshui County.

Effect of internet multiple linkage mode-based extended care combined with in-hospital comfort care on colorectal cancer patients undergoing colostomy

BACKGROUND Patients with colorectal cancer may need postoperative nursing to improve prognosis,and conventional nursing is not effective.Clinical research is needed to explore nursing methods that can more effectively improve postoperative conditions on colorectal cancer patients undergoing colostomy.AIM To explore the effect of internet multiple linkage mode-based extended care combined with in-hospital comfort care on colorectal cancer patients undergoing colostomy.METHODS Data from 187 patients with colostomy treated in our hospital from May 2019 to March 2022 were collected and divided into three groups,A(n=62),B(n=62)and C(n=63),according to different intervention methods.Group A received internet multiple linkage mode-based extended care combined with in-hospital comfort care.Group B received internet multiple linkage mode-based extended care.Group C received usual care intervention.Complications were compared among the three groups.The stoma self-efficacy scale,Hamilton Anxiety Scale,RESULTS The complication rate of group A,B and C(16.13%,20.97%and 60.32%,respectively)was significantly different(all P<0.05).The incidence of complications in groups A and B was lower than that in group C,and there was no significant difference between groups A and B(P>0.05).After intervention,the scores of ostomy care,social contact,diet choice,confidence in maintaining vitality,confidence in self-care of ostomy,confidence in sexual life,confidence in sexual satisfaction and confidence in physical labor in the three groups were all higher than before intervention,and the scores of groups A and B were higher than those of group C,with statistical significance(P<0.05).The Hamilton Anxiety Scale and Hamilton Depression Scale scores of the three groups after intervention were lower than those before intervention.The scores of groups A and B were lower than those of group C,and the score of group A was lower than that of group B,all with statistical significance(all P<0.05).There was a statist-ically significant difference in cancer-induced fatigue among the three groups(P<0.05).After intervention,the scores of physical health,psychological health,social health and mental health of the three groups were lower than before the intervention.The scores of group A and B were lower than that of group C;and the score of group A was lower than that of group B,all with statistical significance(all P<0.05).CONCLUSION Internet multiple linkage mode-based extended care combined with in-hospital comfort care can effectively improve self-efficacy,bad mood,cancer-related fatigue and life quality of colorectal cancer patients undergoing colostomy.

Evolution of economic linkage network of the cities and counties on the northern slope of the Tianshan Mountains,China

The exchanges between cities and counties in the northern slope economic belt of Tianshan Mountains(NSEBTM)are increasingly frequent and the economic linkages are increasingly close,but the spatial distribution of economic development and linkages among the cities and counties within NSEBTM is uneven.Therefore,it is of great significance to study the evolution of spatial-temporal pattern of the economic linkage network of cities and counties on NSEBTM to promote the coordinated and integrated development of the regional economy on NSEBTM.In this study,we used the modified gravity model and social network analysis method to analyze the spatio-temporal evolution characteristics of the economic linkage network structure of cities and counties on NSEBTM in 2000,2010,and 2020.The results showed that the comprehensive development quality level of cities and counties on NSEBTM increased from 2000 to 2020,its growth rate also increased,and its gap between cities and counties continued expanding.Both the spatial distribution patterns of the comprehensive development quality level of cities and counties on NSEBTM in 2000 and 2010 were presented as“high in the middle and low at both ends”,while the spatial distribution pattern of 2020 was exhibited as“high value and low value staggered”.The total amount of external economic linkages of cities and counties on NSEBTM showed an obvious upward trend,and its gap between cities and counties continued expanding,presenting a pattern of“a strong middle section and weak ends”.The direction of economic linkages of NSEBTM existed obvious central orientation and geographical proximity.The density of economic linkage network of NSEBTM increased from 2000 to 2020,and the structure of economic linkage network changed from single-core structure centered with Urumqi City to multicore structure centered with Urumqi City,Karamay City,Shihezi City,and Changji City,shifting from unbalanced development to balanced development.In the future,we should accelerate the construction of urban agglomeration on NSEBTM,cultivate a modern Urumqi metropolitan area,improve comprehensive development quality of the cities and counties at the eastern and western ends,strengthen the intensity of economic linkages between cities and counties,optimize the economic linkage network,and promote the coordinated and integrated development of regional economy.

基于Linkage Mapper的漳州市生态网络构建研究

城市的发展伴随而来的生物栖息地丧失、生境斑块破碎、孤岛化等生态问题日益严重。构建生态网络能有效促进斑块源地之间的生态流动,提高生态服务价值,改善生态环境问题。以漳州市为研究对象,基于电路理论,运用MSPA分析方法和景观连通性指数选取生态源地,利用Linkage Mapper工具识别生态廊道、生态夹点和障碍点,基于重力模型判别廊道等级,结合生态关键点构建生态网络。结果表明,研究区共识别出79条生态廊道,其中25条为重要廊道,景观构成要素以林地和草地为主,主要分布在西部,越靠近东部地区,斑块破碎化程度越高。针对生态源地分布不均,廊道过长,障碍点阻碍生态功能等问题,提出在今后的建设中可通过新增生态源地,保护夹点,设置踏脚石和修复障碍点对生态网络进行优化,以提高生态网络的连通性,促进区域内的生态流动和物种迁徙。

A Preliminary Genetic Linkage Map of Sinonovacula constricta(Lamarck, 1818) Based on Microsatellites Derived from RAD Sequencing

Sinonovacula constricta is one of the important economic aquaculture species in China. In this study, we constructed genetic linkage maps of S. constricta based on 300 microsatellite markers derived from RAD-seq using an F1 full-sib family. The female map contained 204 microsatellites assigned to 22 linkage groups, which covered 1529.5 cM with an average interval of 10.3 cM. The male consisted of 187 microsatellites in 19 linkage groups corresponding to the haploid chromosome number(n(28)19), which spanned 1429.3 cM with an average interval of 8.7 cM. The genome coverage was approximately 83.5% and 81.4%, respectively. An integrated map was constructed according to the common markers in parental linkage groups, which had a total length of 1683.8 cM with an average interval of 7.3 cM. The genome coverage of the integrated map was approximately 86.3%. The genetic linkage map would form the foundation for further studies on the quantitative trait loci(QTL), as well as accelerating the breeding process of this species.

基于Linkage Mapper与粒度反推法的太行山中北段生态节点识别与分析:以河北省阜平县为例

生态节点可以连接破碎的生境斑块,提高景观之间的连通性。选取太行山中北段生态型贫困区域阜平县为研究区,将生态节点分为生态薄弱点、生态障碍点、生态夹点,采用形态学空间格局分析(MSPA)模型识别生态源地,采用最小累积阻力(MCR)模型构建最小累积阻力面,基于Linkage Mapper,运用粒度反推法、空间网络分析法、ArcGIS中的水文分析模块得出各类型生态节点规模、形状、组成形式。结果表明:研究区生态源地面积为25863.97 hm 2;生态节点共计120个,其中生态薄弱点75个、生态障碍点25个、生态夹点20个;由于400 m粒度是生态节点建设的合适参数,因此生态节点形成区域118个,总面积为2043.80 hm 2。针对各类型生态节点明确其建设形式,共有71个区域可建设为林地生态节点,43个区域可建设为水域生态节点,4个区域可建设为园地生态节点,该研究可为促进生态网络连通性提供借鉴意义。

Mobility Analysis of Altmann Overconstrained Linkages by Modified Grübler-Kutzbach Criterion

Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its generality. Altmann linkages are such recognized puzzling mechanisms that their mobility analysis is of important significance. A necessary condition for judging a general mobility method is that the method can be fit for Altmann linkages. Firstly, this study classes Altmann linkages into 17 types in terms of the numbers and types of kinematic pairs, and then Altmann overconstrained linkages are further classified into 4 types. Secondly, the mobility of Altmann overconstrained linkages is systematically analyzed by the Modified Grübler-Kutzbach criterion based on screw theory, where passive freedoms are defined as limb passive freedoms and mechanism passive freedoms. In addition, the full-cycle mobility is judged, which overcomes the shortcoming of instantaneous property of screw theory. It is shown that Modified Grübler-Kutzbach criterion not only obtains the correct numerical mobility, but also gives the mobility character by resolving reciprocal screws for the constraint system. This study lays the foundation of verification for the generality of Modified Grübler-Kutzbach criterion. Besides, Altmann overconstrained linkages almost comprise all kinds of modern parallel mechanisms and some classical mechanisms, which provides an important reference for mechanism mobility calculation.