球面4R机构四位置综合的类型图方法

Because of the complex computation and the big blindness of the synthesis of spherical 4R linkages for four specified orientations, it is difficult to ensure the mechanism solutions of the problem to be practicable, and limited it's application in the field of engineering. Based on the study on Type map proposed by the Robotics and the Automation Laboratory attached to University of California, Irvine and the theory of burmester, this paper gives a approach to realize the method of Type map and proposes a algorithm of defect mechanism discrimination on the platform of Matlab to classify all the spherical 4R linkages synthesized by burmester curve according to their attributes, allowing designers quickly locate the solution project needs from a set of possible mechanism synthesis results. Finally, An instance is cited to realize the effectiveness of the method and give a new idea to solve such synthesis problems.