平面四杆机构的奇异位置与装配模式

The Singular Positions and Assembly Modes of Planar Four bar Linkage

分析了特殊尺寸平面四杆机构的奇异位置，说明在此位置前后，实际机构的装配模式发生了变化，在计算机上实现四杆机构的动画演示或进行运动分析和力分析时需对其装配模式进行转换。

The singular positions of planar four bar linkage with special sizes are analyzed.It is shown that the assembly modes of actual mechanism will change around these positions.It is necessary to convert the assembly modes when the moving pictures display or the kinematics analysis and dynamics analysis for the four bar linkage are realized on the computer.