【摘要】 由球面对踵三角理论和球面三角形余弦定理 ,得出球面三角形在其三边恒定的情况下有两种构型及其这两种构型的特点 ;通过分析得出了球面四杆机构回路特性是由其输出构件与连杆所构成的球面三角形的两种构型决定的结论 ,提出了球面四杆机构的回路和分支识别的转角符号法 ;最后由空间第一类机构与球面四杆机构的等效性 ,阐述了将此识别方法应用于第一组空间机构的方法。这对于机构综合有重要的参考价值更多还原

【Abstract】 Based on theory of spherical symmetry triangle and spherical triangle cosine theorem,the characteristics of two configurations of a spherical triangle is educed.The conclusion that circuit property of spherical four bar is decided by two configurations of spherical triangle which is composed of output link and coupler of spherical four bar is derived.Rotation angle symbol method to identify circuit and branch of spherical four bar is presented in this paper.Finally,the method about application to spatial first group mechanism is elaborated.This research has significant reference value for linkages synthesis.更多还原