At present, the research objects of rigid-body guidance synthesis are mostly limited to pure linkages, and there is little research on the combined mechanisms of gears or cams and linkages. In order to expand the research objects of rigid-body guidance and improve the kinematic mapping theory, this paper proposes a rigid-body guidance method of noncircular gear-five-bar combined mechanisms. A noncircular gear-five-bar mechanism can be regarded as a combination of a 2R (two revolute joints) open chain, a 3R (three revolute joints) open chain and a pair of noncircular gears. Firstly, the circle point curves and circle center point curves of the 2R and 3R open chains are obtained by using kinematic mapping, and they are formed into a double crank five-bar linkage. Secondly, the B-spline curve is used to fit the rotation angle relationship of the gear pair to obtain the pitch curves of noncircular gears. Finally, aiming at correcting patients’ abnormal gait, a noncircular gear-five-bar exoskeleton knee joint rehabilitation device is designed based on four task poses. The prototype is developed and the wear test is carried out. The test results verify the correctness of the rigid-body guidance synthesis method and the effectiveness of rehabilitation training.

Sliding bearing alloy layers must combine excellent tribological performance with reliable metallurgical bonding, but conventional fabrication methods often suffer from coarse grains, chemical segregation and poor interface adhesion. Annular coaxial laser wire-feed cladding, by providing more uniform heat input and rapid solidification, is expected to mitigate these deficiencies; however, systematic studies of this technique applied to tin-based Babbitt alloy layers remain limited. In this work, Babbitt layers produced by conventional casting and by annular coaxial laser wire-feed cladding were compared in terms of microstructure, phase constitution, hardness and tribological behavior. The results indicate that laser cladding can produce continuous, dense and well-bonded coatings and markedly refine the SnSb phase, reducing grain size from approximately 100 μm in the cast material to 10-20 μm. Hardness increased from 25.3 HB to 27.6 HB, while tribological performance improved substantially: the coefficient of friction decreased by about 38.19% and the wear volume was reduced by approximately 10.46%. These improvements are attributed mainly to the rapid solidification, low dilution and more uniform phase distribution associated with annular coaxial laser cladding, demonstrating the strong potential of this process for fabricating high-performance tin-based Babbitt bearing layers.