并联机构支链拓扑特征自动运算的算法开发

Algorithm Development of Automatic Calculation for Parallel Mechanism Featured by Branch Topology

并联机构支链的拓扑特征能够很好地反映机构的运动维数、运动方向,但是计算过程非常复杂,学术界希望能运用计算机运算。支链信息的字符化表示方法和用于计算机判定支链间方位关系的矩阵表达式的提出是基于方位特征集的并联机构拓扑结构设计的理论和方法。依此设计的计算拓扑特征的交、并运算自动算法可实现并联机构分析的便捷化。

The branch-chain topological feature of the parallel mechanism can well reflect the motion dimension and motion direction of the mechanism. But the calculation process is very complicated, and the academic circle hopes to adopt computer operations to solve this. A character representation method of chain information and the matrix expression for computer to determine the orientation relationship between branches was proposed according to the theory and method of the parallel mechanism topology design based on the Position of Characteristics (POC) sets. And the intersection and union automatic algorithms for calculating topological features are designed to facilitate parallel mechanisms analysis.