为了实现舵机4个舵翼同时偏转相同的角度，采用了RSSR空间连杆机构组合。利用解析法建立机构的运动分析模型，用MATLAB软件求解机构输入与输出的运动关系曲线。利用ADAMS软件对机构进行参数化建模及优化设计，通过计算敏感度，确定优化设计变量，结果表明：输入杆摆角为-11.842 7°～11.841 9°，峰值相差0.000 8°；各舵翼之间的摆角误差范围在-0.357 3°～0.477°，在误差范围±0.5°内，该机构的优化满足设计要求。
In order to make four steering rudder deflect the same angle at the same time, the RSSR spatial linkage combined mechanism was used. Analytical method was used to establish motion analysis model of mechanism, and the motion relationship curve of input and output of mechanism was solved through MATLAB software. The parametric model of mechanism was built on ADAMS software, and then optimization design was carried out. By calculating sensitivity, the optimal design variables were determined. The results show that the swing angle of the input rod is between the degrees of -11.842 7 and 11.841 9, and the peak is 0.000 8 degrees in difference. The error of steering rudder angle is between the degrees of -0.357 3 and 0.477, and the error within ±0.5 degrees, so optimization of the mechanism meets the design requirements.
.[J]. Machine Tool & Hydraulics,2015,43(9):1-4