Watt--I型六杆刚体导引机构的解域综合方法

给出了Watt-I型六杆机构尺寸综合的一种新方法。该方法对于刚体有限分离四位置问题通过建立机构解域，最终能够得到满足给定设计条件的全部可行解。本文首先给出解曲线公式，并介绍解曲线的映射和构成平面解域的方法。然后给出该类型机构的回路与分支缺陷判定方法。通过缺陷判定得到无缺陷的机构解可行域，从而使设计者能够得到满足更多设计要求的更优机构，避免选择机构的盲目性，提高设计效率。最后，通过综合示例说明本文所提出方法的综合过程，证明了方法的实用性和有效性。

Solution-region synthesis approach of a Watt--I six-bar rigid-body guidance mechanism

A new approach of dimensional synthesis is introduced for Watt- I six-bar rigid-body guidance mechanisms. Through establishing the mechanism solution-region, this approach can get all feasible solutions for the finite separated four-position problem of the rigid-body in the end. This paper firstly gives the solution-curve formula and recommends the methods of solution-curve mapping and forming plane solution-region. After that, a circle and branch defects decision is proposed for this type of mechanism. Through this defect decision, the feasible region of no-defect mechanism solutions is acquired, which makes a designer be able to get much bet-ter mechanisms that meet much more design requirements, avoid the blindness of selecting mechanisms and improve the design effi-ciency. Finally, the synthesis process of the approach presented in this paper is illustrated through a synthesis example, which proves the practicability and effectiveness of this approach.