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

为了运用球面4R机构满足周期性往复运动的需求，以GTM剑杆织机中球面4R引纬机构为研究对象，建立了机构的结构参数和输出运动参数之间的函数关系，利用数学方法得出了机构运动函数的特性，分析了各结构参数对运动曲线形态的影响。通过组合相关的结构参数，获得了不同形态的运动曲线，实现了机构的变异，扩展应用到引纬机构的扩幅设计和开口机构的创新设计中。研究结果表明，通过合理组合球面4R机构中的两个结构参数可以实现多种应用。

球面4R机构, 运动特性, 曲线形态, 剑杆织机, 引纬