源代码中是三个子程序，分别为R,RRR,RRP,用于分析机构的各部分的速度，加速度，坐标。R用于分析原动杆，RRR用于分析双杆组构件，RRP用于分析两转动副一滑动副的双杆组。分析一个具体机构时可先将机构拆成原动杆和各杆组，然后调用这三个子程序来计算。-Source code of three subroutines, namely R, RRR, RRP, for the analysis of body parts of the velocity, acceleration, coordinates. R for the analysis of the original rod, RRR for the analysis of double-pole group member, RRP for the analysis of two revolute a sliding two-bar group vice. Analysis of a sector specific institutions can be split into the original first rod and the bar group, and then call subroutine to calculate the three.