The library of KCU instance is constructed to support the mapping from KCU to KCU instance.Through enriching and detailing the constraint sets of kinematic chain, the evolution of UCS is realized.

• 建立运动链基元实例库和基元与基元实例之间映射关系,通过对联结语义约束的丰富,实现基元联结语义的进化。