含复铰平面十杆运动链构件交叉的识别

提出了识别含复铰平面十杆运动链构件交叉的一种新方法，利用能够反映多副杆和复铰特点的构件邻接矩阵。构造运动链的缩减运动链，进而得到缩减运动链的广度优先生成树和三个基本回路。通过回路的公共边界判断网孔的接壤类型，据此建立了构件交叉的识别准则和方法，并在含复铰平面十杆单自由度运动链中成功地识别出有构件交叉的无复铰运动链11种、含复铰运动链341种。

Detecting Bar-Crossing to 10-Link Planar Kinematic Chain With Multiple Joint

This paper presents a newmethod to detect the bar-crossing in 10-link planar kinematic chain with multiple joint. Through the bar adjacent matrix which can reflect the character of the multiple joint-point bar and multiple joint, the curtailedkinematic chain can be obtained, then its breadth-first spanning tree and 3 basic loops are deduced. We can judge the networks border type by the communal boundary of the loops. Thus the criterion and method of detecting bar-crossing are established, and we have successfully detected 11 kinds of kinematic chains witheut multiple joint and 341 kinds of those with multiple joint including bar-crossing in the 10-link,one freedom planar kinematic chain with multiple joint.