【摘要】 提出一种适用于含任意复合铰个数的机构运动链拓扑图表示新方法,该方法在对含复合铰运动链转化为拓扑图时,在拓扑图顶点上标以顶点号和顶点对应的构件运动副数,与复合铰相连接的所有构件被看作是相互邻接的构件,该拓扑图完整表示了含复合铰机构运动链的信息,且不增加拓扑图顶点数规模。在拓扑图表示基础上,将邻接矩阵动态修改法应用到含复合铰运动链的同构判别,判别实例表明邻接矩阵动态修改法能有效对含复合铰机构运动链进行同构判别。更多还原

【Abstract】 A new available method is applied to represent a topological graph of a kinematic chain in a mechanism with compound hinges.In the topological graph,a vertex is marked with a vertex number and a corresponding number of kinematic pair,and mutually adjacent components equivalently substitute for all components connected to the compound hinge.This topological graph holds the same vertex number with traditional graph and contains the complete information of a kinematic chain in a mechanism with compound hinges.It turns out that the topological graph is applied to the dynamic modification of adjacency matrix so that it can effectively identify the isomorphism of the kinematic chains with compound hinges.更多还原