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Number-matrix description method of planar closed multi-joint kinematic-chain

A kinematic chain and matrix technology, applied in complex mathematical operations, special data processing applications, instruments, etc., can solve problems such as loss, easy loss of information, cumbersome expression of topology maps, etc., and achieve the effect of preventing information loss

Inactive Publication Date: 2018-04-20
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

However, when drawing a topological diagram of a simplified structure, due to the inclusion of compound hinges, the expression of the topological diagram is cumbersome, and because the drawing methods and forms of the topological diagram are also varied, it is easy to lose part of the information, such as the attributes of kinematic pairs. When the topology map is converted into a matrix, part of the information is lost in the matrix, such as member numbers, etc.

Method used

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  • Number-matrix description method of planar closed multi-joint kinematic-chain
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  • Number-matrix description method of planar closed multi-joint kinematic-chain

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Embodiment Construction

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] A numbering matrix description method of a planar closed compound hinge kinematic chain, which numbers the components and kinematic pairs of the kinematic chain, where the kinematic pair is P n , and generate an n×n numbered matrix A:

[0022]

[0023] In the formula, n is the number of kinematic pairs, and the diagonal element a of the numbering matrix i,j (i=j) are all 0, other elements of the numbering matrix a i,j (i≠j, i=1,...,n; j=1,...,n) is the connection motion pair P i and sports vice P j The number of the member, when the kinematic pair P i and sports vice P j When not connected, a i,j =0.

[0024] will number the element a of matrix A i,j Perform bool operation, when element a i,j =0, the element value remains unchanged, when element a i,j When ≠0, the element value is 1, and the adjacency matrix B is o...

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Abstract

The invention relates to the field of mechanism kinematic-chains, and discloses a number-matrix description method of a planar closed multi-joint kinematic chain. Components and kinematic pairs, whichare Pn, of the kinematic chain are numbered, and an n x n number matrix A is generated. According to the number-matrix description method of the planar closed multi-joint kinematic chain of the invention, relation expression of a topology graph is omitted, information loss is prevented, the number matrix corresponds to the kinematic chain in a one-to-one manner, and can uniquely represent the kinematic chain, and a kinematic-chain structure diagram can be directly drawn by the number matrix.

Description

technical field [0001] The invention relates to the field of mechanism kinematic chains, in particular to a numbering matrix description method of a planar closed compound hinge kinematic chain. Background technique [0002] The basis of studying mechanism is the characteristic analysis of kinematic chain, and the description of kinematic chain plays a very important role in mechanism. For the traditional representation method, it is generally to transform the kinematic chain diagram into a topological diagram, then convert the topological diagram into a matrix, and perform related operations. However, when drawing a topological diagram of a simplified structure, due to the inclusion of compound hinges, the expression of the topological diagram is cumbersome, and because the drawing methods and forms of the topological diagram are also varied, it is easy to lose part of the information, such as the attributes of kinematic pairs. When the topological map is converted into a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06F17/16
CPCG06F17/16G06F30/20
Inventor 孙伟孔建益
Owner WUHAN UNIV OF SCI & TECH
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