混合输入五杆机构构型的分析

利用开链机构的工作空间位置关系、四杆机构的可装配条件和Grashof准则，分析四杆机构的所有构型。基于四杆机构构型，分析满足混合输入要求的所有五杆机构构型。将混合输入五杆机构分为3种类型：无条件三曲柄、无条件两曲柄和无条件单曲柄类型。根据四杆机构的可装配条件，推导出五杆机构不会出现奇异位置的条件，即两连杆不共线的条件。利用此条件，进一步得到满足混合输入要求且不出现奇异位置的五杆机械的3种类型，这3种类型为混合输入五杆机构尺度综合提供了重要的尺寸约束条件。

Analysis of Types of Hybrid Input Five-Bar Mechanism

By utilizing the position relationship of open chain's workspace, four bar mechanism's assemblability law and Grashof criterion, it analyzed all types of four bar mechanism. Based on it, all types of hybrid five bar mechanism were analyzed. The hybrid five bar mechanism is divided into three types, which are unconditional three cranks, unconditional two cranks and unconditional single cranks. According to the law of four bar mechanism's assemblability, the condition of no singular position of five bar mechanism is derived. That is two coulpers are not colinear. By using the condition, it got three types of five bar mechanisms which satisfy the requirement of hybrid input and no singular position. These types provide the important constraint condition for dimensional synthesis of the hybrid input five bar mechanism.