Abstract: The four configurations of RRP simple opened-chain have been analyzed.The accomplished method of kinematics analysis has been gived.It provides the fundament for optimization and accurate analysis of mechanisms.

• 文摘:深入分析了RRP单开链的四种装配构形，给出了其统一完整的运动分析方法，为机构选优及运动分析提供了依据。