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四连杆组合臂架是门座起重机最常用的变幅机构形式之一。组合臂架的设计通常采用作图法和一般代数法。本文所述的位移矩阵法是运动方程——几何约束方程与位移矩阵的综合运用。它不仅可用于臂架的综合,也可用于臂架的分析,在设计过程中有一定数量的自由未知量可供设计者任意选择,而设计公式基本不变。因而可将设计过程中极大部分不变部分作为外部过程存库调用,故计算机语言简单明了,便于设计使用。本文所述内容也适用于一般机构的综合与分析,包括空间机构。
Four-link combination boom is one of the most commonly used luffing mechanism forms for portal cranes. The design of combined boom usually adopts the method of graphing and general algebra. Displacement matrix method described in this article is a combination of the equations of motion - the geometric constraint equations and the displacement matrix. It can be used not only for the synthesis of the boom, but also for the analysis of the boom. During the design process, there are a certain amount of unknowns available for designers to choose from, and the design formulas are basically unchanged. Therefore, a large part of the invariable part of the design process can be invoked as an external process repository. Therefore, the computer language is simple and easy to design and use. This article also applies to general agency synthesis and analysis, including space agencies.