平面铰链四杆机构的运动几何学模型

Kinematic geometry model for four-bar linkages

以微分几何学为基础，提出了平面铰链四杆机构的运动几何学模型．对于众多类型的平面四杆机构的运动几何学问题，只需求解最简单的基本机构的位移方程；然后通过角度参量变换模式，便可求得运动几何学参数，为其应用及动态仿真软件的编制提供了理论依据．

Based on the differential geometry, a kinematic geometry model of the planar four-bar linkages is proposed. The parameters of kinematic geometry for all types of planar four-bar linkages can be obtained by transforming the linkage into a corresponding basic linkage, finding the relationship between their angular parameters, and then, solving the kinematic geometry equations for required results. A sound theoretical basis, therefore ,is provided for further study, application and software design of animated motion process simulation of the kinematic geometry for all types of four-bar linkages.