介绍了摆环球面 4R机构在剑杆织布机上的应用 ,给出的解析计算方法可做为该类空间连杆机构运动设计软件的数学基础 随着计算机设计方法的不断进步 ,各种空间连杆机构越来越多地得到应用 探讨的摆环机构属于空间球面 4R机构的一种演变形式 ,它以简练的结构 ,采用低副连接 ,实现了空间方位的变换和回转向摆动的转换 The application of pendulum ring spherical 4R mechanism on rapier loom is introduced. The analytical method given can be used as the mathematical basis for the motion design software of this type of spatial linkage mechanism. With the continuous improvement of computer design methods, More and more applications of the lever mechanism swing ring mechanism belongs to the spatial sphere 4R mechanism of an evolution of the form it concise structure, the use of low secondary connection, to achieve the transformation of the spatial orientation and slewing swing