混合驱动五杆机构的轨迹特性研究

混合驱动五杆机构的轨迹特性体现它的柔性能力。首先分析不同柔性工作空间的混合驱动五杆机构轨迹设计的准则，然后分析混合驱动五杆机械轨迹的局部点设计准则，提出轨迹局部点的特性。根据这些特性，进一步分析在整个轨迹设计的范围内，轨迹的变化率的可行域，为混合驱动五杆机构的轨迹设计提供重要的设计约束。最后，给出设计算例验证本文理论的正确性。

On Study of Trajectory Characteristic of Hybrid-driven Fiye-bar Mechanisms

Trajectory characteristic of hybrid-driven five-bar mechanisms show its' capacity of flexibility. Firstly, this paper analyzes design criterians of trajectory of hybrid-driven five-bar mechanisms for different flexible workspaces. Then design criterians of local point of trajectory have been investigated and obtained. And local characteristic of trajectory have been put forward. According to these characteristic, effective region of trajectory's rate of change,is researched. It provides important restraints with design of trajectories of hybrid-driven five-bar mechanisms. Finally, some examples are given to validate theo- ries of this paper.