运动链中刚性子链的自动辨别及消除

Automatic Identification and Elimination of the Rigid Subchain in Kinematic Chain

刚性子链的判断是运动链型综合中的一个难题,通过分析运动链中各个闭合回路运动子链的自由度,提出了判断运动链中是否含有刚性子链的方法。根据运动链中各个基本回路的组成关系,提出了运动链基本回路矩阵的建立方法。通过对基本回路矩阵进行运算可得出运动链的各个组合闭合回路,结合刚性子链的判别方法,得出运动链是否含有刚性子链以及组成刚性子链的闭合回路。通过基本回路矩阵的运算,将组成刚性子链的闭合回路消去,得到了不含刚性子链的运动链。最后采用计算机编程,实现了运动链中刚性子链的自动辨别及消除。

The judgment of the rigid subchain is a difficult problem in the synthesis of kinematic chain.By analyzing the kinematic chain of each closed loop in the kinematic chain,a method is proposed to determine whether there is the rigid subchain in the kinematic chain. According to the composition of the basic loop of the kinematic chain,the method of establishing the basic loop matrix is proposed. Through the operation of the basic loop matrix,the combined closed loop in the kinematic chain is obtained. The rigid subchain in the kinematic chain is got by combining the rigid subchain identification method. By the operation of the basic loop matrix,the closed loop of the rigid subchain is eliminated,and the kinematic chain without the rigid subchain is obtained. Finally,computer programming is used to realize the automatic recognition and elimination of the rigid subchain.