摘要
The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can easily be simulated by computer.But the adjacency matrix based on monochrome topological graph is not suitable for the topological representation of mechanisms with multiple joints.The method of adjacency matrix operations has its own limitations for analysis of configuration transformation of metamorphic mechanisms because it can only be used in the topological representation of mechanisms with single joints.In order to overcome the drawback of the adjacency matrix,a kind of new matrix named as extended adjacency matrix is proposed to express topological structures of all mechanisms.The extended adjacency matrix is not only suitable for the topological representation of mechanisms with single joints,but also can be used in that of mechanisms with multiple joints.On this basis,a method of matrix operations based on the extended adjacency matrix is proposed to analyze the configuration transformation of metamorphic mechanisms.The method is not only suitable for configuration analysis of metamorphic mechanisms with single joints as well as metamorphic mechanisms with multiple joints.The method is evaluated by calculating two examples representing metamorphic mechanisms with single joint and multiple joints respectively.It can be concluded that the method is effective and correct for analysis of configuration transformation of all metamorphic mechanisms.The proposed method is simple and easy to be achieved by computer programming.It provides a basis for structural synthesis of all metamorphic mechanisms.
The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can easily be simulated by computer.But the adjacency matrix based on monochrome topological graph is not suitable for the topological representation of mechanisms with multiple joints.The method of adjacency matrix operations has its own limitations for analysis of configuration transformation of metamorphic mechanisms because it can only be used in the topological representation of mechanisms with single joints.In order to overcome the drawback of the adjacency matrix,a kind of new matrix named as extended adjacency matrix is proposed to express topological structures of all mechanisms.The extended adjacency matrix is not only suitable for the topological representation of mechanisms with single joints,but also can be used in that of mechanisms with multiple joints.On this basis,a method of matrix operations based on the extended adjacency matrix is proposed to analyze the configuration transformation of metamorphic mechanisms.The method is not only suitable for configuration analysis of metamorphic mechanisms with single joints as well as metamorphic mechanisms with multiple joints.The method is evaluated by calculating two examples representing metamorphic mechanisms with single joint and multiple joints respectively.It can be concluded that the method is effective and correct for analysis of configuration transformation of all metamorphic mechanisms.The proposed method is simple and easy to be achieved by computer programming.It provides a basis for structural synthesis of all metamorphic mechanisms.
基金
supported by National Natural Science Foundation of China (Grant No. 51075039, Grant No. 50705010)
Beijing Municipal Natural Science Foundation of China (Grant No. 3082014, Grant No.3053017)
Fundamental Research Funds for the Central Universities of China (Grant No. 2009CZ08)
