连杆机构轨迹再现问题求解方法的分析

平面铰链四杆机构轨迹再现问题的传统方法求解，理论上可满足轨迹上9个插值结点，但在给定5个以上插值结点时，求解就已十分困难，这与实际工程中机构在满足一定约束条件下最佳地逼近预定运动规律的要求相矛盾．为解决这一矛盾，根据实际工程要求，提出平面铰链四杆机构轨迹再现问题的最优化求解方法，分析、比较了最优化解法与传统方法的异同及其对问题求解的影响，并借助实例给出最优化求解的方法步骤。

Analysis of solution method for trial rendition of link lever mechanism

The traditional methods for solving the plane gemel with four poles' track reappearance can satisfy the track where there are nine insert crunodes in theory. But the solution becomes very difficult if there is over five present insert crunodes. This is conflicted with the actual engineering mechanism that approaches the requirement of the schedules movement rule optimally when this mechanism satisfies some restrict conditions. In order to solve this conflict, this article presents the optimization methods for the plane gemel with four poles' track reappearance according to the actual engineering requirement. This article also analyzes and compares the similarities and differences as well as the influence on the solution between the optimization method and the tranditional method. The optimization process is also presented by an example.