Model 1:4 body system Revolute joint H3:B2~B3 1,=4 B21 3 个 p=H,j=3,s9=(y） C2 2 H3 0-,i=2,s=6yy旦 B: x C33 H B Bi i kind j T i siPr T C 1 (r) 1 -10 4 00 2 () 2 -20 1 10 3 (r) 3 00 2 20 T 3, Qj Qj Qj P=H3 j  s  x y B2 B3 B3 C2 2 x2 y C33 y 3 x O x y Revolute joint H３：B２  B３ l2  4 Hi Bj Bi i kind j i c 1 (r) 1 -1 0 4 0 0 2 (r) 2 -2 0 1 1 0 3 (r) 3 0 0 2 2 0 QT j s PT i s Tj v Ti v  T 2, Pi Pi Pi Q=H3 i  s  x y H3 Model 1: 4 body system