六杆机构四位置运动生成的解域综合理论与方法

针对Stephenson-Ⅱ型六杆机构四位置运动生成问题，给出基于布氏曲线的广义布氏曲线概念及其方程，同时给出解域综合方法。该方法首先求解出满足要求的解曲线，而后利用雅可比矩阵行列式值符号及机构运动连续性条件剔除解域中存在运动缺陷的机构，最后根据实际需求附加约束条件形成可行解域图。给出的综合示例验证了解域综合方法的可行性和有效性。该方法简单且便于编程实现，同时对其他多杆机构的综合也有参考借鉴意义。

Solution region synthesis theory and method of six-bar linkages with 4-position motion generation

According to the Stephenson-Ⅱ six-bar linkage with 4-position motion generation, the concept and equation of generalized Burmester curves based on Burmester curve was proposed. The solution region method was given. Firstly, this method required to get solution curves meeting requirements. Then the six-bar linkage with defects was removed from the solution region using the sign of Jacobin determinant value and mechanism motion continuity. Finally, considering the practical engineering requirements, the feasible solution region was obtained. Analysis example demonstrates that the method is practicable and effective. The proposed method is simple and convenient to be realized in programming. Besides that, the method can provide reference for other multi-bar linkages 4-position motion generation.