位移矩阵法综合平面铰链四杆机构的非迭代解法

Non-iterative Solution of Displacement Matrix Method for the Synthesis of Planar Knuckle- jointing Four-level Mechanism

提出了一种用位移矩阵法精确求解实现四个或五个位置的刚体导引机构的综 合，实现了两边架杆四个或五个对应位置的函数机构的综合以及其它一类连杆机构 综合的方法。与数值迭代法相比，用该方法编制计算机程序进行解题，一次计算就能 得到全部解，所需时间大为减少。

To implement the guide of rigid body, a convenient way is to use planar matrix of displacement to solve the integrative four-level mechanism. But if four or five locations are required to be carried out, the iterative method has to be used for the design equation set derived from this would be a nonlinear one and usually it is hard to set an initial value which definitely converges to solution. Presently, to solve this problem, designers commonly give out the initial value via graphic analysis, stochastic estimation or other ways, which admittedly lead to a long solving period but is still quite difficult to get all the solutions of integration. This study firstly simplified the constraint equation of displacement of the planar R-R guiding level and, through relevant variable substitution, made it become a quasi-linear equation set which can be solved without using numerical iterative method. Also it applied this method to other integrative projects of mechanism such as, implementation function and implementation locus.