中文摘要：

提出了一种基于解域的四精确点球面4R机构函数综合方法。首先通过相对运动转换将函数综合转换为位置综合。接着给出了球面布氏曲线的方程式及布氏点的计算和分类方法。最后通过具体的示例建立了机构类型解域,将无穷多机构解表示在有限的环形区域内,从而使设计者能够直观准确地了解机构的类型及其分布区间。

英文摘要：

A synthesis approach was introduced for spherical 4R function generator of four precision points. Firstly, the spherical 4R function synthesis was converted to motion generation synthesis by employing an inversion method. The equations of spherical Burmester curves were derived. The calculation and classification of Burmester points were introduced. Then mechanism types of an infinite number of solutions are expressed on finite circle solution regions with illustrative examples.