A unified model of harmonic characteristic parameter method for dimensional synthesis of linkage mechanism

The article presents output expressions of linkage mechanism in general mathematical form. The harmonic components of the mathematical expressions are analyzed by using the Fourier series theory. The relationship between the harmonic component and the harmonic characteristic parameters of coupler rotation-angle operator is discovered. Based on this relationship, a unified approach to establish the numerical atlas database is given. The unified derivation process of formula, which can compute the actual dimensions and installation parameters of linkage mechanism, is presented. The concepts of the coupler rotation-angle operator, the harmonic output characteristic parameters of dimensional type, the mechanism’s basic dimensional types and the harmonic dimension characteristic parameters of dimensional type are defined. Based on these definitions and the concrete steps of harmonic characteristic parameter method, the unified model is set up for the dimensional synthesis of linkage mechanism from planar, spherical to spatial motion.