Isomorphism Judgment Method of Kinematic Chain Based on Numbering Matrix

Abstract

The invention relates to the field of mechanism kinematic chains, and discloses a kinematic chain isomorphism determination method based on a numbering matrix, which numbers the components and kinematic pairs of the kinematic chain, generates a numbering matrix, extracts kinematic chain information, and standardizes the numbering matrix. And renumber the kinematic pairs and components, obtain the standardized numbering matrix, then extract the standardized composite hinge information and standardized kinematic pair information of the kinematic chains, and compare the standardized composite hinge information, component information and standardized kinematic pair information sequentially. If they are all the same, then The kinematic chain is isomorphic, otherwise it is heterogeneous. The kinematic chain isomorphism judging method based on the numbering matrix of the invention takes into account the reliability and labelability of the judging, is simple and requires less calculation, and realizes the judging of the corresponding relationship between the components and the kinematic pairs of the isomorphic kinematic chain.

Description

technical field [0001] The invention relates to the field of mechanism kinematic chains, in particular to a kinematic chain isomorphism judging method based on a numbering matrix. Background technique [0002] The kinematic chain isomorphism judgment is of great significance to the structure type synthesis and optimal structure type of the mechanism. At present, there are many methods for the isomorphism judgment of the mechanism. The methods for giving the bijection of graph nodes and edges are: [0003] 1. Based on the eigenvalue and eigenvector calculation method of the adjacency matrix or correlation matrix, and the eigenvalue method based on the component connectivity matrix, when there are many identical eigenvalues, the calculation amount of the isomorphism judgment will increase sharply, or even fail; [0004] 2. Mechanism isomorphism determination based on genetic algorithm, but genetic algorithm is essentially a probabilistic search method, which has the defects of...

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Problems solved by technology

[0004] 2. Mechanism isomorphism determination based on genetic algorithm, but genetic algorithm is essentially a probabilistic search method, which has the defects of being premature and easy to fall into local solutions, and the calculation amount of isomorphism determination with genetic algorithm has not yet been given theoretically. make more accurate forecasts;

[0005] 3. According to the successive product matrix of the correlation matrix and its transpose matrix, the prime number representation of the adjacency matrix of the kinematic chain of the mechanism is established through the corresponding relationship between the rows of the product matrix and the array, and the isomorphic bijection of the isomorphism determination is not given by this method. The upper limit of the number of times of matrix multiplication, and the judgment is still more complicated when there are many identical values ​​in the row and the array

[0009] At present, the main problem of mechanism isomorphism determination is that the existing methods cannot take into account the reliability and labelability of the determination at the same time, the calculation is complex and the amount of calculation is large, and the corresponding relationship between the components and the kinematic pairs of the isomorphic kinematic chain cannot be realized. judgment, so it needs to be further studied

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