本文给出的计算方法，可作为该类空间连杆机构运动设计软件的数学基础，文中介绍了它在剑杆织布机引剑机构上的应用及特点。
In this paper , a calculated method used to maths modle of design software in space connecting rod mechanism was described , and application and characteristics of picking sword in rapier was introduced .
剑杆织布机