To enrich the theoretical system of multi-mode mechanisms, a classification method and a determination method are proposed in this paper. From the perspective of configuration transformation, the multi-mode mechanisms are divided into two types: one based on lockable joints and the other based on the principle of bifurcated motion. Furthermore, the mechanisms based on the principle of bifurcated motion are categorized into two types: one based on the variable mobility branch and the other based on constraint singularity generated by branches. The principles of classification are expounded and the determination method is developed. The proposed classification and the determination methods of the multi-mode mechanism provide new insights for their analysis.

中文翻译：

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有限螺杆法在多模态机构分类与判定中的应用


为了丰富多模式机构的理论体系，本文提出了多模式机构的分类方法和判定方法。从构型变换的角度来看，多模式机构分为两种类型：一种是基于可锁定关节的机构，另一种是基于分叉运动原理的机构。此外，基于分叉运动原理的机构分为两类：一类基于可变移动性分支，另一类基于分支产生的约束奇异性。阐述了分类原则并制定了判定方法。所提出的多模式机制的分类和确定方法为其分析提供了新的见解。