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在提出并证明了关于铰链四杆闭链中转动副之整转性的若干引理、定理的基础上，给出了系统、完备的铰链四杆机构类型判定定理，对传统、著名的Ｇｒａｓｈｏｆ定理作了重要的延伸和推广。
On the basis of several theorems and theorems about the complete rotation of the turning pair in a four-bar chain with hinges, a system and a complete hinge-type four-bar mechanism type judgment theorem are given. The traditional and famous Grashof theorem Made an important extension and promotion.