Continuous Approximate Synthesis of Planar and Spatial Mechanisms

机构综合是近一千年来发展起来的机构科学的一个重要分支。机制是相互连接的组件的集合，这些组件分别称为链接。两个相邻的连杆之间的连接是一个接头。四杆连杆机构是一类重要的机构，它由一个相对固定的刚性连杆组成，输入连杆和输出连杆通常由旋转或线性关节连接。输入和输出环节另外连接到第四环节，第四环节将输入的运动耦合到输出的运动，形成闭环。四杆机构在函数生成（输入和输出连杆的运动根据代数函数协调）、刚体制导和轨迹生成方面具有重要的应用。目前的方法是规定耦合器，连杆4的有限位置和方向，或输入和输出连杆角度对的有限值集，然后使用数值程序合成连杆的几何形状，该连杆可以以最小的误差近似所需的运动，但相对于仅规定的值。这被称为

Mechanism synthesis is an important branch of mechanism science that has developed over the last millennium. A mechanism is a collection of interconnected components individually called links. The connection between two adjacent links is a joint. Four-bar linkages are an important class of mechanism that consist of a relatively fixed rigid link to which an input and an output link are attached, typically by rotary, or linear joints. The input and output links are additionally connected to a fourth link which couples the motion of the input to that of the output, forming a closed loop. Four-bar linkages have important applications to function generation (the motions of the input and output links are coordinated according to an algebraic function), rigid body guidance, and trajectory generation. The current approach is to prescribe a finite set of positions and orientations of the coupler, link 4, or a finite set of values for pairs of input and output link angles, and then to use numerical procedures to synthesise the geometry of a linkage that can approximate the desired motions with the least error, but relative to only the prescribed values. This is termed