常用平面五杆机构计算机辅助运动分析数学模型的研究

对于平面五杆双自由度机构，通过对其输入及输出构件进行不同配置，提出了平面铰链五杆机构和单滑块五杆机的常用类型及其尺度约束，建立了机构杆组运动分析数学模型，并据此编制了机构运动分析软件，由实例看出，该数学模型可有效地应用于常用平面五杆机构的运动分析和计算。

General Types of Planar Five-Bar Mechanism and Its Kinematic Modeling

Five bar linkages with dual freedoms are capable of generating random curves and have capacities of high speed operation, heavy load bearing and more efficient comsumption of energy. This paper investigates the problems of five bar linkages. A classification is made on the general types (planar joints five bar mechanism and single five bar mechanism) and their necessary dimension constraints of planar five bar mechanism are summed up with different arrangements of input output bars. The mathematical models of movement analyses are presented and kinematic analyses and synthesis software are devoloped. The example shows the effectiveness of the mathematical models. For the further research, this paper studies the workspace and mobility of a closed loop manipulator as the simplest robot, points out some comparisons of serial driven and parallel manipulators.