一种含复铰运动链同构判定的新方法  

A New Method for Isomorphism Identification of Kinematic Chains with Multiple Joints

作　　者：李安明 孙伟 侯宇[1] 黄森 LI An-ming;SUN Wei;HOU Yu;HUANG Sen(College of Machinery and Automation,Wuhan University of Science and Technology,Hubei Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械设计与制造》2021年第10期28-32,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51875418)。

摘　　要：运动链的同构判定是一个较为复杂的问题,对于机构的型综合意义重大。提出了一种含复铰运动链同构判定的新方法。首先,提出了一种改进邻接矩阵描述含复铰运动链的方法,该方法具有运动链结构描述的唯一性。接着用特征码表示运动链的基本特征,作为同构的必要条件。然后,提出了最短距离矩阵的概念及其求解算法,并得到该矩阵的和列阵。通过判定特征码、最短距离矩阵的和列阵及特征值、特征向量是否相等来判定运动链是否同构。最后,通过实例验证了该方法的有效性和可靠性。Isomorphism identification of kinematic chains is a complex problem,which is of great significance to the type synthesis of mechanisms.A new method for identifying isomorphism of kinematic chains with multiple joints is proposed.Firstly,an improved adjacency matrix method for describing kinematic chains with multiple joints is proposed,which has uniqueness in describing the structure of kinematic chains.Then,the basic feature of the kinematic chain is represented by the feature code,which is the necessary condition for isomorphism.Then the concept of the shortest distance matrix and its solving algorithm are proposed,and the summation array of the matrix is obtained.By distinguishing whether the chain’s feature code,the summation array,the eigenvalue and eigenvector of shortest distance matrix are equal,the isomorphism of the kinematic chain can be judged.Finally,the validity and reliability of the method is verified by examples.

关 键 词：同构判定 最短距离矩阵 和列阵 改进邻接矩阵 复合铰链 

分 类 号：TH16[机械工程—机械制造及自动化] TH112