摘要
机构运动链的同构判定对机构的结构类型综合及优选有重要意义,本文提出了一种新的解决此问题的方法。首先基于运动链的拓扑特性提出了一个新的机构结构不变量——环路,然后按构件度和连接关系将运动链中各构件分类,若两个运动链的构件类别代码不完全相同,则此两个运动链不同构;若完全相同,则以最大构件度基杆为首杆搜索出一个最长环路,再以此最长环路为基础生成各其它环路。将由构件号表示的各环路转化为构件度表示并进行全等比较,若两个运动链中各环路一一对应全等,则此两个运动链同构,否则不同构。通过实例验证了这种方法的有效性和完备性。
The isomorphic identification of kinematic chains is important to classical synthesis and optimization of a mechanism. In this paper, we present a new approach to solving this problem. First, we propose a new structural invariant-loops of mechanism based on the characteristics of kinematic chains, and classify each link of the kine- matic chains according to the component degree and the connecting relationship. If the link classification codes of the two kinematic chains are not identical, then the two kinematic chains are not isomorphic ; when the codes are identical, let the link with maximum link degree be the first link to search a loop with maximal length, then other loops are generated on the basis of the loop with maximal length. Each of the loop is transformed to represent link degree, if each loop of the two kinematic chains is one-to-one correspondently congruent, then the two kinematic chains are isomorphic, otherwise they are not isomorphic. Examples are given to demonstrate the reliability and ro- bustuess of the approach.
出处
《机械科学与技术》
CSCD
北大核心
2009年第2期205-209,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
湖南省教育厅优秀青年项目(08B081)资助
关键词
平面运动链
同构
全等环路
planar kinematic chains
isomorphism
congruent loops
