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A method for automatically establishing a mathematical model of kinematic analysis to a planar mechanism with multiple joint and prismatic pair is presented.The breadth(or depth) first search spanning tree can be obtained based on an adjacency matrix of the mechanism.Then the kinematic chain(or mechanism)’s basic loops can be obtained.On the basis of these basic loops,a mathematical model of kinematic analysis can be established and solved automatically.In the sense of a calculative mechanism,structural analysis of the kinematic chain relates to the kinematic analysis of a mechanism.Thus,an effective way is supplied to the given mechanism’s kinematic analysis for automatic modeling and solving,and a method is supplied to the structural type to optimize kinematic synthesis.
A method for automatically establishing a mathematical model of kinematic analysis to a planar mechanism with multiple joint and prismatic pair is presented. Breadth (or depth) first search spanning tree can be based on an adjacency matrix of the mechanism. (or mechanism) ’s basic loops can be obtained. On the basis of these basic loops, a mathematical model of kinematic analysis can be established and solved automatically. In the sense of a calculative mechanism, structural analysis of the kinematic chain relating to the kinematic analysis of a mechanism.Thus, an effective way is provided to the given mechanism’s kinematic analysis for automatic modeling and solving, and a method is provided to the structural type to optimize kinematic synthesis.