互逆定理
互逆定理-
根据约束螺旋在空间不同几何条件下的线性相关性对约束螺旋系进行分类，并通过螺旋理论的互逆定理获取每种约束螺旋系所约束的运动。
The main contributions are as follows : Based on the linear dependency of constraint screws under different geometrical conditions , a straightforward classification of constraint screw system is proposed and the corresponding constrained motion is obtained by reciprocal relations between twists and wrenches .