平面闭链五杆机构动力学的研究

The Dynamic Analsys of Planar Close Chain Five-bar Mechanism

对双自由度五杆机构进行动力学分析，得到其耦合项，并对其进行分析。由分析结果得到一种新的构形，然后通过改变杆长和质量分配，使其满足解耦合的条件，并给出解耦合的结构类型和质量分布方式。

This paper present a theory of dynamic analysis about five bar mechanism. Through the study of the equation, we can get a structure, and the mass distribution play an important role on the control of the mechanism. With this structure and by proper mass distribution, the mechanism can be decou pled