闭环机构关联杆组中基本连杆排列组合的确定

doi:10.3901/JME.2016.05.130

机械工程学报 ›› 2016, Vol. 52 ›› Issue (5): 130-136.doi: 10.3901/JME.2016.05.130

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闭环机构关联杆组中基本连杆排列组合的确定

王莹^{1, 2}, 路懿¹

1. 燕山大学机械工程学院秦皇岛 066004;
2. 华北理工大学机械工程学院唐山 063009

出版日期:2016-03-05 发布日期:2016-03-05
作者简介:王莹,女,1981年出生,博士研究生。主要研究方向为机器人机构学、并联机器人拓扑结构学。E-mail：wangying@heuu.edu.cn;路懿(通信作者),男,1958年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人理论与CAD/CAM技术。E-mail：luyi@ysu.edu.cn
基金资助:
*国家自然科学基金(51175447)和燕山大学科研基金(JX2014-2)资助项目

Determination of Permutation and Combination of Basic Links in Associated Linkage of Closed Mechanisms

WANG Ying^{1, 2}, LU Yi¹

1. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063009)

Online:2016-03-05 Published:2016-03-05

摘要/Abstract

摘要： 针对含冗余约束和被动自由度的闭环机构,解决其关联杆组中基本连杆的排列组合问题。采用Matlab程序,求解关联杆组中基本连杆的数目,确定基本连杆的组合形式。该方法与决策树方法相比,避免了数据的遗漏。同一关联杆组中基本连杆排列方式同构,推导出的拓扑胚图同构。提出选择性插入方法解决基本连杆的同构排列问题,通过程序实现,证明该方法能减少运算量,节省运算时间。举实例说明程序自动生成有效基本连杆排列方式的应用过程。结果表明,所提出的运算方法能在进行闭环机构拓扑胚图综合之前,清除同构的基本连杆排列方式,保证后续推导的拓扑胚图的有效性,同时便于在计算机上实现,提高自动化程度。

关键词: 基本连杆, 排列组合, 同构判别, 拓扑胚图

Abstract: Aiming at closed mechanisms with redundant constraint and passive degree of freedom, the problem of basic links permutation and combination of their associated linkages is solved. The number of basic links is solved and the arrangement form of basic links is determined using Matlab. This method avoids the missing data compared with the method of decision tree. For the same associated linkage, topology embryonic graphs are isomorphic if their arrangements of basic links are isomorphic. Selective insertion method is proposed to solve the problem of isomophic arrangement of basic links. It proves that this method can reduce the amount of computation to save computing time by Matlab program. Examples are given to illustrate auto-generation of the effective arrangement of basic links procedure and specific application. The results show that the proposed method can effectively remove isomorphic arrangement of basic links before the integration of topology embryonic graph, which ensure the effectiveness of the subsequent topology embryonic graph derived and also allow the computer to achieve.

Key words: basic link, isomorphism identification, permutation and combination, topology embryonic graph

中图分类号:

TH112

王莹, 路懿. 闭环机构关联杆组中基本连杆排列组合的确定[J]. 机械工程学报, 2016, 52(5): 130-136.

WANG Ying, LU Yi. Determination of Permutation and Combination of Basic Links in Associated Linkage of Closed Mechanisms[J]. Journal of Mechanical Engineering, 2016, 52(5): 130-136.

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闭环机构关联杆组中基本连杆排列组合的确定

Determination of Permutation and Combination of Basic Links in Associated Linkage of Closed Mechanisms

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