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中文摘要：
对于给定机架和欲逼近直线上的点及方向角，为解决寻优难问题，选取一个连架杆方位角为设计参数，基于Euler—Savary方程牙口曲率一驻点曲线方程，采用解析法求解含鲍尔点直线机构全解，并实现全部机构尺寸和直线性能的图形可视化。施加运动学约束，计算可行解区间，为具有三阶密切直线导路机构的最优运动设计提供一种先进有效的设计方法，最后通过设计示例验证公式与分析方法的正确性和可行性。
英文摘要：
For given frame and one of its points on the prescribed straight line and its orientation, the angle of one side link is selected as design parameter for solving the difficult optimal search problem. Based on Euler-Savary equation and curvature-stagnation point equation, all of straight line guidance mechanisms with Ball point on the coupler curve are obtained by the analytical method. The visualization of related properties of comprehensive solutions are real- ized to guide designers to search optimization easilly. After imposing kinematic constraints, the feasible mechanism regions can be computed. The method proposed in this paper is applied to choose the optimal design scheme for linkages approximating a 3-order osculating straight line. The results of synthesis examples verify the correctness and effectiveness of the proposed formulas and method.
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