球面4R机构, 运动特性, 曲线形态, 剑杆织机, 引纬

In order to apply spherical 4R mechanism to meet various reciprocating movements,based on spherical 4R weft insertion mechanism of GTM rapier loom, an output kinematics function of mechanism was established. Some important properties of kinematics function were proved with mathematic method, and the mapping between structure parameters and appearance of kinematics function curve was built. After creative design some structural parameters, some different appearances of kinematics function curve were obtained and the mechanism was changed. This changed mechanism can be used in designing weft mechanism and shed mechanism.The results indicate that many kind of applications can be obtained by reasonably combining two structure parameters in spherical 4R mechanism.

spherical 4R mechanism, kinematics characteristic, curve appearance, rapier loom, weft insertion