| Because the trajectory of single-freedom linkage is too simple to meet the actual needs of production, multi-bar and multi-dof linkage, which can accomplish more complex curves, has become the general direction of research for modern institution synthesis.Five-Bar is the most basic institution in the multi-dof institutions, from this, we can develop many other varied forms of multi-dof institutions, So the research of Five-Bar have universal significance, not only does it can rich the theory of linkage, but also can be useful as a reference work on the theoretical analysis of other multi-dof linkage.In this paper, we have infered the essential condition of the exist of the two-dof Five-Bar by dynamic analysis, And this can provide a more reasonable restraint condition for the optimized synthesis of the trajectory of the Five-Bar. Meanwhile, depend on the Vector loop method, we have established a Mathematics equation of the Five-Bar. Using the union of the coordinate transformation and the matrix operation as the mathematical instrument of the movement analysis, we can infer the displacement equation of the Organization, and the location parameter matrix of the original and driven couplers.At last, from those basic matrixs, we can analysis the Position, speed, as well as acceleration of the organization easily.In this paper, We analysis the problem of the trajectory territory of the double-dof Five-Bar, detail its graphic method, then extract the mathematical expression of the dead point path. At last, acquire the rules of the planar Five-Bar trajectory which are influenced by the length of the link, the ratio of the rotational speed of the two original couplers and the initial angle. Analysising this three Parameters are helpful for the researching of the trajectory synthesis of the Five-Bar.For the problem of optimization of Five-Bar, in this paper,we advance a new design process, That is program trajectory by known track point first ,This means will make the process of trajectory optimize synthesis of five-bar simpler and more efficiency. At last we establish math model of Five-Bar with VB language, though this simulation analyse,we verified the correctness of the correlative theories and the formulas of account. |
