四杆机构九精确点轨迹综合的延拓法

FOUR BAR NINE PRECISION POINT PATH GENERATION SYNTHESIS BY CONTINUATION METHODE

平面四杆机构连杆上某点精确通过预定九个点位的轨迹综合问题是长期以来难以精确求解的课题，至今，多以近似求解法求解．本文将以求解多项式方程组的延拓法求解基于标准型方程而导出的高次多项式方程组，详细介绍了延拓法及其计算机算法，该方法的特点是能可靠地得到方程给的全部数学解系，但计算量大，本文最后给出了九精确点轨迹综合实例及其计算结果，经计算机动画模拟演示，说明计算结果是正确的．

Four bar path generating problem whose coupler curve passes through nine precision point has been a longstanding unsolved problem in kinematics. Up till now, the approximate synthesis method is widely used in this problem. This thesis will use continuation method to solve the polynomial equation set derived for the nine point four bar path generating problem. The characteristic of the method is that it can find all solution of the polynomial equations reliably. Also the paper present the nine point synthesis example and its calculation result. The computer animate imitation result prove that the calculation is correct.