基于构件-构件邻接矩阵的含复铰运动链描述与同构判定

doi:10.3901/JME.2020.03.041

机械工程学报 ›› 2020, Vol. 56 ›› Issue (3): 41-46.doi: 10.3901/JME.2020.03.041

基于构件-构件邻接矩阵的含复铰运动链描述与同构判定

孙伟, 孔建益, 王兴东, 侯宇

武汉科技大学机械自动化学院武汉 430081

收稿日期:2019-03-23 修回日期:2019-10-25 出版日期:2020-02-05 发布日期:2020-04-09
通讯作者: 王兴东(通信作者),男,1970年出生,博士,教授。主要研究方向为机构学、机器视觉。E-mail:wangxingdong@wust.edu.cn
作者简介:孙伟,男,1990年出生,博士,讲师。主要研究方向为机构学与机器人。E-mail:sw35812@gmail.com
基金资助:
国家自然科学基金资助项目（51875418）。

Description and Isomorphism Judgment of the Kinematic Chain with Multiple Joints Based on Link-link Adjacency Matrix

SUN Wei, KONG Jianyi, WANG Xingdong, HOU Yu

College of Machinery and Automation, Wuhan University of Technology and Science, Wuhan 430081

Received:2019-03-23 Revised:2019-10-25 Online:2020-02-05 Published:2020-04-09

摘要/Abstract

摘要： 在运动链型综合过程中，运动链的同构判定是重要且复杂的问题之一。提出了一种基于构件-构件邻接矩阵的改进Hamming数同构判定新方法。针对运动链中复合铰链难以分析和识别问题，提出了一种构件-构件邻接矩阵的含有复铰运动链描述方法。该矩阵包含运动链的拓扑结构信息，具有描述的唯一性。定义改进Hamming数原理，并采用提出的改进Hamming数新方法对运动链进行同构判定。案例证明了该新方法的准确性和高效性。

关键词: 复合铰链, 构件-构件邻接矩阵, 运动链, 同构判定, 改进Hamming数

Abstract: In the synthesis process of kinematic chain, the isomorphism determination of kinematic chain is an important and complicated problem. A new method to improve Hamming number isomorphism determination based on link-link adjacency matrix is proposed. In view of the difficulty in analysis and identification of multiple joint in kinematic chain, a link-link adjacency matrix description method of kinematic chains with multiple joints is proposed. This matrix contains the topological structure information of the kinematic chain and is unique in description. Then, the principle of improve Hamming number is defined, and the proposed new method of improve Hamming number is adopted to identify isomorphism of the kinematic chain with with multiple joints. Finally, the case proves the accuracy and efficiency of the new method.

Key words: multiple ltiple joint, link-link adjacency matrix, kinematic chain, isomorphism detection, improve Hamming number

中图分类号:

TH112

孙伟, 孔建益, 王兴东, 侯宇. 基于构件-构件邻接矩阵的含复铰运动链描述与同构判定[J]. 机械工程学报, 2020, 56(3): 41-46.

SUN Wei, KONG Jianyi, WANG Xingdong, HOU Yu. Description and Isomorphism Judgment of the Kinematic Chain with Multiple Joints Based on Link-link Adjacency Matrix[J]. Journal of Mechanical Engineering, 2020, 56(3): 41-46.

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基于构件-构件邻接矩阵的含复铰运动链描述与同构判定

Description and Isomorphism Judgment of the Kinematic Chain with Multiple Joints Based on Link-link Adjacency Matrix

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