摘要
应用电路分析中的基尔霍夫定律和电路网络分析方法来判断运动链的同构。首先建立了运动链的等效电路模型 ,将运动链的拓扑结构关系等效为电路网络的拓扑约束关系。然后应用电路定律和电路网络分析的支路电流法进行分析 ,得出了基于电路网络分析的运动链同构判定依据 ,最后结合实例说明了运动链的同构判定方法。该方法简单、可靠、操作简便 。
Kirchhoff′s laws and the methods of circuit analysis are applied to identify isomorphism of kinematic chains. The equivalent circuit models of kinematic chains are established firstly, which make the topological relationships of kinematic chains equal to the topological restriction of circuits. Then the isomorphism judgment criterion based on the circuit analysis is obtained by applying the circuit laws and the method of branch current to the circuit models. Finally, the method is illustrated with several examples which show that this method is simple, reliable and convenient.
出处
《机械科学与技术》
CSCD
北大核心
2004年第5期580-582,586,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省自然科学基金项目
西安电子科技大学青年科研工作站基金项目资助
关键词
运动链
同构判定
拓扑等效
电路定律
电路网络分析
Kinematic chains
Isomorphism detection
Topological equivalent
Circuit laws
Circuit analysis
