平面单副运动链的发散及同构判定算法研究

Number Synthesis and the Isomorphic Detection of Planar Kinematics Chains with Simple Joints

在定义机构运动链特征矩阵的基础上提出一种平面单副运动链发散的算法 ,对发散后生成的与原机构具有相同连杆数与自由度数的运动链矩阵运用连杆修正距离等级序列进行同构判定 ,得到原机构的所有非同构运动链 .此算法便于计算机自动实现 。

An algorithm is proposed for enumerating planar kinematic chains with simple joints. An invariant called the arranged sequence of modified whole distance ranks of all the links is used to detect isomorphism to obtain all of non isomorphic kinematic chains of original mechanism. This algorithm can be computerized easily.