摘要
在对平面机构闭式运动链结构组成进行研究后,提出运动链类型综合的基杆构形树法。首先,针对给定的构件数与自由度,基于缩杆邻接矩阵综合出运动链连杆序列、缩杆序列、构件度序列以及基杆联结度序列等恒量序列。然后,归纳出基于缩杆邻接矩阵对运动链进行类型综合的方法与步骤,定义了基杆构形树,并用基杆构形树综合出运动链的基杆构形矩阵,进一步研究了综合运动链联结矩阵的缩杆匹配方法。由于基杆构形树法在综合过程中按杆的级别、运动副数目以及联结关系等结构不变量将运动链进行了分类细化,因此综合规律性强、效率高,有利于减少后续刚性子链消除与运动链同构识别的计算量,尤其适合于多杆多自由度平面机构闭式运动链的计算机自动综合,并在12杆以下平面机构闭式运动链的类型综合中得到成功的应用。同时,以10杆单自由度机构运动链的类型综合为例进行了实例分析。
Based on a study of the structural composition of planar closed kinematic chains, the basic links structure-tree method is presented to complete the type synthesis of kinematic chains. For kinamatic chains with given number of links and degrees of freedom, the constant sequences, such as link sequence, contracted link sequence, link degree sequence and basic links connective sequence, are first of all achieved by synthesis on the basis of the contracted link adjacency matrix. And then, the approaches and steps are induced to complete type synthesis for kinematic chains based on the contracted link adjacency matrix, and also the basic links structure-tree is defined. The basic links structrue matrix of the kinamatic chains is achieved by synthesizing. And a further study of approaches to matching contracted links is also made for synthsizing the connetive matrix of the kinematic chains. As a result of using the basic links structure-tree method in the process of synthesizing, the kinematic chains are classified in accordance with the structural invariants such as the degrees of links, the numbers of kinematic pairs and connective relation between links. So the type synthesis is charaterized by strong regular pattern and high efficiency, and its results are advantegeous to reducing the operation during the follow-up rigid sub-chains eliminating and isomorphinsim identifying. And the method is especially suitable for the computer to achieve automatic type synthesis for the planar closed kinematic chains with multiple links and multiple degrees of freedom. And also it is successfully used in the type synthesis for the planar closed kinematic chains with 12 links and 12-below-links. As an example, the type synthesis method is demonstrated with the aid of kinematic chains with 10 links and single degree of freedom.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第9期30-35,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金(50575180
50475143)。
关键词
类型综合
运动链
平面机构
缩杆邻接矩阵
基杆构形树法
Type synthesis Kinematic chain Planar mechanisms Contracted link adjacency matrix Basic links structure-tree method
