• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (13): 113-122.

• 论文 • 上一篇    下一篇



  1. 华中科技大学机械科学与工程学院
  • 发布日期:2011-07-05

Composite Configuration Space of Mechanical Assembly Model

HUANG Zhengdong;KANG Weirui;PENG Yangping   

  1. School of Mechanical Science and Engineering, Huazhong University of Science & Technology
  • Published:2011-07-05

摘要: 提出机械装配模型复合配置空间(Composite configuration space, CCS)的概念并研究相关性质和表达方法。在机械装配模型构成变拓扑机构时,它的不同形态机构的位姿参数区域拼合成该模型的整体运动参数区域,该整体参数区域定义为此装配模型的CCS。重点论述装配模型中不同面—面接触状态及其演变关系与CCS中不同配置参数区域及其邻接关系之间的内在联系,应用拓扑学的方法对CCS进行分类和分析,总结出若干具有一定理论和实际意义的性质;最后还提出一种装配配置的顺序参数化方法及配置参数区域的顺序变端点区间直接表示方法,结合区域边界连接映射一起表达装配模型的复合配置空间,并给出CCS的若干实例。上述工作为最终实现从装配模型生成系统行为范围、进而进行机械系统模型检测的目标打下了理论基础。

关键词: 变拓扑机构, 工作空间, 模型检测, 配置空间, 装配模型

Abstract: The concept of composite configuration space (CCS) for mechanical assembly is put forward and the related properties and expression methods are studied. CCS is a union of motion parameter domains of the mechanisms with variable topologies formed by varying part surface-surface contact relationships in a mechanical assembly. The study is concentrated on the natural connections from the part contact states as well as their transitions in assembly to the different motion parameter domains and their adjacency relations in CCS. By means of the concepts from topology, some useful insights to the classifications and properties of CCS are provided. In addition, a direct expression method is presented, in which, motion parameter domains are first represented by a direct product of a sequential of intervals with variable bounds after the parts’ locations are parameterized in some order, and then a CCS is constructed by connecting the domains along their boundaries with parameter mappings. Finally, some examples of CCS are given. The above-mentioned work lays a foundation for further research on mechanical CAD model checking based on identifying the model’s behavior envelope.

Key words: Assembly model, Configuration space, Mechanisms with variable topologies, Model checking, Workspace