复合四位置刚体导引机构综合的研究

对于有限分离四位置及复合四位置刚体导引机构综合，用位移矩阵法给出布氏曲线的方程式，并通过坐标变换将方程式化为标准形式，再依据射影几何中二射影低阶曲线束构成高阶曲线的原理，以圆束和直线束中二对应线交点的轨迹得到布氏曲线，实现布氏曲线的单值有序绘制。最后根据映射理论建立机构解域，使设计者可以直观准确地知道机构的特性。

Rigid-body Guidance Mechanism Synthesis through Four Mixed Positions

For rigid-body guidance mechanism synthesis through four finitely separated positions and four mixed positions, a displacement matrix method was presented for calculating the Burmester curves. After the equations of Burmester curves have been deduced, they were turned into the standard forms through coordinate transformations. Then according to the projective geometry theory that two pencils-of-low-order curves constituted a high-order curve, the Burmester curves could be single-valuably and orderly expressed by intersections of a pencil-of-circles and a pencil-of-lines. Finally, solution regions were set up so that the designers could have an intuitional and exact knowledge of mechanism properties.