串联机构数字建模及方位特征集自动分析

Digital Modelingof Serial Mechanism and Automatic Analysis of Position and Orientation Characteristics

基于方位特征集理论（POC），对串联机构拓扑结构进行了数字化描述并且提出了一种方位特征集自动分析方法，并给出了运算规则、主要步骤以及流程图。通过实例分析，结果表明：串联机构末端构件方位特征集自动分析过程中，提出的机构拓扑结构数字化和向量组并集理论能够简洁、快速的分析出串联机构末端构件的POC集，且便于计算机自动分析串联机构方位特征集，为并联机构拓扑结构自动分析奠定基础。

Based on the theory of position and orientation characteristics （ in short, POC ）, The topological structure of the serial mechanism is described in detail, and an automatic analysis method of Position and Orientation Characteristics is proposed. The operation rules, main steps and flow charts are given. Through the example analysis, the result shows： In the automatic analysis of Position and Orientation Characteristics of the end member of a series mechanism, The theory of mechanism topology digital and union of Vector group can be simple and fast analysis of serial the Position and Orientation Characteristics of the end member of a series mechanism , and it is convenient for computer to analyze the Position and Orientation Characteristics of the serial mechanism automatically , and it lays the foundation for automatic analysis of topology structure of parallel mechanism.