中国机械工程2025，Vol.36Issue(6)：1178-1187,1221,11.DOI:10.3969/j.issn.1004-132X.2025.06.005
基于全息下三角矩阵变换对比的运动链同构判定方法
Isomorphism Identification Method for Kinematic Chain Based on Exchange and Comparison of Lower Triangular Matrix with Whole Information
摘要
Abstract
Isomorphism identification was recognized as a critical step in the synthesis processes of kinematic chains(KC).A new MWI was proposed to describe the structural information of KCs.The principles for determining multiple-joint and polygonal links were introduced.Based on the principle that the lower triangular matrix with whole information(LTMWI)may uniquely express the structure of KCs,a new isomorphism identification method was proposed with the comparison and exchange of LTMWI.This method relied on the transformation law of links and key point numbers.Two KCs were expressed by LTMWI,with one LTMWI was selected as the datum matrix.After grouping the key points and moving the non-zero elements of key points in the same group forward,the determined key points and the key points to be determined were obtained.Under the assumption that all key points in the exchange matrix correspond one-to-one with the key point positions in the datum matrix,a finite number of exchange matrices were compared.The method has advantages such as a simple principle,ease of programming,and an identification process requiring only retrieval/comparison op-erations.It could quickly provide isomorphism identification results,and the mapping of links and e-ven revolute pairs could be obtained.Isomorphism analyses of several KCs demonstrate the aforemen-tioned characteristics of the method.关键词
同构判定/全息矩阵/基准矩阵/多元复铰/多元构件Key words
isomorphism identification/matrix with whole information(MWI)/datum matrix/multiple-joint/polygonal link分类
机械工程引用本文复制引用
张广帅,孙亮波,刘小翠,章德平,周华西..基于全息下三角矩阵变换对比的运动链同构判定方法[J].中国机械工程,2025,36(6):1178-1187,1221,11.基金项目
国家自然科学基金(51875418) （51875418）
