可重构机器人树状拓扑结构

Tree-like topological structure of reconfigurable robots

在可重构机器人的设计和应用中,需要对不同单元组合的拓扑结构进行研究和分析,为此提出了一种新的可重构机器人单元结构模型。在此基础上,研究了可重构机器人的非同构树状拓扑结构列举问题。通过规则层序列的递推算法得到所有单元组合的有根树状结构,再利用基本层序列的判断条件,直接从递推结果中选取非同构的自由树状拓扑结构,简化并改进了相应的列举算法。最后对非同构拓扑树的结构及其数目进行了仿真计算。结果表明,文中所述算法可以根据一组给定单元结点计算出所有的单元组合非同构树状拓扑结构。

The unitassembly topological structures need to be analyzed in the design of reconfigurable robots. A new unit structure model is presented to study the enumeration of nonisomorphic treelike topological structures. All the structures in unitassembly rooted trees can be enumerated with the regular level sequence recurrence algorithm. The nonisomorphic free trees were directly selected from the results for rooted trees using primary level sequence conditions. The algorithm simplified and improved the enumeration. A simulation to calculate the structures and number of nonisomorphic unitassembly topological trees shows that all the nonisomorphic trees produced from a group of given units can be enumerated with the algorithm.