含复铰连杆机构的拓扑表示与其回路自动分析  

Topological Representation and Automatic Kinematic Loop Analysis for Linkages with Multiple Joints

作　　者：王成志[1] 

机构地区：[1]集美大学机械工程学院,厦门361021

出　　处：《农业机械学报》2009年第2期199-203,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：福建省自然科学基金资助项目(A0440006)

摘　　要：提出用"复合铰链零错位"分析机构结构的方法。先将复合铰链错位成相互距离为零的运动副,建立拓扑图和对应的关联矩阵,确定树及余树,通过矩阵计算求出基本回路矩阵,并进而求出完全回路矩阵。将错位的复合铰链重新合并,根据回路的权排序,再按回路的相互独立性和回路连通性找出优选的独立回路。研究表明,复合铰链零错位后绘制的拓扑图简洁、直观,关联矩阵的建立以及分析回路的算法通用,便于应用在计算机自动结构分析与运动分析程序中。A method for analyzing the mechanism structure was presented. The multiple joints in the schematic diagram could be offset into the separate joints with imaging zero distances, drew them in small distances between them rather than drew them concentrically. With former representation, the topological graph and its incidence matrix were easily built to represent the topological structures of a kinematic chain or a mechanism with multiple joints. When the basic closed loops were calculated with the tree and co-tree matrix got from the incidence matrix, all of the loops in a kinematic chain or a mechanism could be got based on the linear combination of the basic loops. Combining such joints that actually jointed at a single location into its original single symbol, multiple joint, again and then sorting the loops with the weights of each loop, some optimum loops with independence from each other and with joint connectivity in a loop were selected. The research showed that the topological graphs are simple and directly perceptible, and the algorithms for producing the incidence matrix and analyzing closed loops could be conveniently used for programming software for automatic structural and kinematic analysis of mechanism.

关 键 词：平面连杆机构 运动链 复合铰链 结构分析 拓扑图 优选回路 

分 类 号：TH112.1[机械工程—机械设计及理论]