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Variable step-size numerical atlas method for path generation of spherical four-bar crank-slider mechanism

This paper presents a new method for the path generation of spherical four-bar crank-slider mechanism. Based on the established mathematical model of the spherical four-bar crank-slider mechanism, the expression of the coupler curve is determined. Then, depending on Fourier series theory, the immanent connection between coupler curve and its corresponding harmonic characteristic parameters is discovered. Meanwhile, by the analysis of the basic dimensional type and the coupler curve, different step size for each parameter of the basic dimensional type is chosen. Thus, by putting the harmonic characteristic components and associated basic dimensional type of spherical four-bar crank-slider mechanism together, a variable step size numerical atlas database of the spherical four-bar crank-slider mechanism is created. Furthermore, by using fuzzy identification method, the best suitable basic dimensional type of spherical four-bar crank-slider mechanism for prescribed coupler curve is obtained. Finally, an example is given to illustrate the synthesis process and the application of this method.