Abstract: In this paper, the kinematic analysis of the 1-DOF single-loop spatial mechanism is addressed by using screw theory, and the formulae of velocity and acceleration of the mechanism are derived in terms of the kinematic screws (twists) of the mechanism, based on these, the dynamic analysis of the mechanism is addressed also. The results of the paper enlarged the application scope of the screw theory.

Key words: 动力分析, 对偶数, 空间机构, 运动分析, 正交螺旋