通用机构环路生成算法的研究

An Algorithm on Constructing Topological Information of Mechanism's Unified Model

在定义边边结合矩阵的基础上，以图论为工具并充分考虑到机构统一建模和机构解算的实际情况，对通用机构的环路生成算法进行研究，设计了一种能适用于任意机构的有效环路生成算法。生成的环路能满足机构建模、机构解算的要求，并能方便地生成构件路径。最后给出了一个实例来说明算法的正确性。

In this paper we present a new approach to the construction of topological information of mechanism's unified model on the basis of the definition of the Rigid link Matrix. Bases on the graphic theory the method gives a round recognition to the concrete fact of mechanism's unified modeling and kinematics resolving which makes it quite easy and valid. This method can produce valid close loops and open loops which are required for unified modeling, kinematics resolving and rigid routing. An example is given to show its procedure and verify its correctness.