Rigid Body Guidance of Planar 4R Linkages Based on Gray-coded Type Map

Abstract

In order to improve the calculation efficiency of 4-position guidance of 4R linkages based on burmester theory, and to solve the problem of blindness in center point choice, a computer aided method of gray-coded type map was proposed in this paper. Firstly, center curve and circle curve in burmester theory were calculated respectively by the methods of projective geometry and vector subtraction; then, all the combinations of center points were mapped into a two-dimensional set that was gray-coded according to the transmission performance of linkages; finally, 8 subsets of gray-coded map were redrew according to linkage type, on this basis, solutions satisfied the 4-position task were easily found by this map. The method proposed by this paper could improve the calculation efficiency of rigid body guidance.