摘要
本文提出了便于计算机处理的运动链结构图的表示方法。以此为基础，利用邻接链表示法直接对含复铰或不含复铰运动链结构图进行同构或拓扑对称性判断，并用ＴｕｒｂｏＰｒｏｌｏｇ语言编制了相应的程序ＭＩＳＯＡＴ。从而成功地将这两种运动链的机构及拓扑对称性判断问题统一了起来，简化了此类问题的求解过程。
This paper gives an indicating method of structural graph of kinematic chain so that the graph can be dealt with personal computer.So,isomorphism and topological symmetry of kinematic chain whcther or not containing multipic-joint,can be completcd by means of the Adjacet_Chain_Table method directly with the structural graph.And,this paper gives a relevant progarm that is programed witb TURBO PROLOG langualge,Thus,indentification of isomorphism and topofogical symmetry to the kinematic chain is successfully united,and the process of settiing tbc questions is simplified.
出处
《机械科学与技术》
CSCD
北大核心
1994年第2期15-19,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
运动链
复铰
同构
拓扑对称性
Structural graph of kinematic chain Multiple-Joint Isomorphism Topological symmetry Adjacent-Chain-Table
