多任务可调四杆机构刚体导引综合的符号解

Symbolic solution on rigid-body guidance synthesis for adjustable four bar linkage with multiple tasks

提出了一种实现多任务刚体导引综合的可调平面四杆机构综合方法,导出了可调机构的刚体导引综合方程。通过调节连架杆的长度,可以实现不同任务的刚体导引综合。针对实现多个任务的可调平面四杆机构,采用数学机械法并结合计算机符号处理技术得到二杆组的全部实数解,从中任意选取两组解即可组成满足给定要求的平面铰链四杆机构。

A kind of synthetic method of adjustable planar four bar linkage that could achieve rigid-body guidance synthesis with multiple tasks has been put forward, and the rigid-body guidance synthetic equation was derived. The rigid-body guidance synthesis with different tasks can be realized by means of adjusting the length of frame linking rod. By adopting mathematic mechanical method （Wu elimination method） and combining with computer symbolic processing technique the complete real numbered solutions of two bar set was obtained. Select arbitrarily two sets of the solutions will constitute the planar hinged four-bar linkage that satisfies the given requirement.