串联机构拓扑结构自动综合算法

Automatic Synthesis Algorithm of Topological Structure of Series Mechanism

基于方位特征集(POC)理论,提出了一种串联机构拓扑结构的自动综合方法,对串联机构拓扑结构进行了数字建模,给出了自动综合步骤并做出人机交互界面。首先,用矩阵对串联机构进行数字化描述,然后,利用穷举法对运动副方位配置关系列举,用算法实现方位特征集自动求解,筛选出满足要求的机构,并设计出GUI人机交互界面。提出的自动综合方法具有普遍性的意义,综合出的机构具有完备性,为计算机对机械系统自动化分析提供方便,使自动化实现具有可操作性。

An automatic synthesis method for the topological structure of a series mechanism is proposed based on the theory of position and orientation characteristics（ in short,POC） set. The digital modeling of the topology structure of the series mechanism is built,and the flow chart and the main steps are given. Firstly,the series mechanisms are digitally described by using matrices. Then,the locations relationships among kinematic pairs are thoroughly enumerated by using the method of exhaustion,the automatically solving of position and orientation characteristics set is realized by using algorithm,the mechanism that meet the requirement is selected,and the GUI human-computer interaction interface is designed. The proposed automatic synthesis method is of universal significance,and the integrated mechanism is comprehensive that is convenient for the computer to analyze the automation of the mechanical system which make the automation be feasible.