基于全回路拓扑特性矩阵运动链同构的辨识

以运动链的广义拓扑图为基础,建立了包含运动链所有信息的全回路拓扑特性矩阵.给出了矩阵的构建原则和方法,并对其用于运动链同构识别进行了研究,进一步给出了应用该矩阵辨识运动链同构体的方法及主要的步骤,并给出了应用实例.同时,解决了其它方法在回路选择上出现分歧的问题,不受运动链杆数和自由度的限制,矩阵元素少,计算量小,速度快,又可以在计算机上实现,因此更加高效和可靠.经过大量的实例证明该方法行之有效,特别是在构件数和回路数多的运动链的同构识别中更具优势.

Mechanism Kinematic Chain Isomorphism with All-Loop-Link-Join-Martrix

Based on. generalized topological figures of kinematical chains, all-loop-link-join-matrix is built, which contains all information of kinematical chains. The constructive principle and method of that matrix is put forward. It is applied in the research of the Isomorphism Identification of kinematical chains. The method and the main process of the Isomorphism Identification of kinematical chains is given out further. Some practical examples are solved by the new method. The matrix contains all loops of kinematical chains, and solves forky problems in the choice of loops. It cannot be constrained by the bars and the freedom of kinematical chains. In the matrix, elements are fewer; the amount of calculation is little, and the speed of calculation is high, so the method can be realized in computer. Because of the use in computer, the method is efficient and reliable. The method is certified by tremendous examples, especially in the Isomorphism Identification of kinematical chains which contain many bars and loops.