描述变胞机构构态变换的关联矩阵法.docVIP

描述变胞机构构态变换的关联矩阵法 畅博彦1, 2 金国光1, 2 戴建生3 杨世明1, 2 贠今天1, 2 （1. 天津工业大学机械电子学院，天津 300160； 2. 天津市现代机电装备技术重点实验室，天津 300160. 伦敦大学国王学院机械工程系，伦敦 WC2R 2LS 英国） 摘 要: 基于变胞机构的变拓扑结构特性，提出了四种基本变胞过程：构件数目变化、运动副数目变化、运动副类型变化和连接方式变化，这些过程的组合使用可实现全部变胞要求。为了完整、简便、清晰地描述构态变换过程，提出运用含有运动副类型的关联矩阵及其逻辑运算对变胞过程进行描述，同时给出了构态变换方程的逻辑表达式和实现变胞过程的五种基本变胞矩阵。该方法能直观地描述出构态变换的过程和目的，变胞矩阵构造简便，与传统数学运算相比运算次数少，且变换过程中不需要对构件重新编号，有利于变胞机构计算机辅助设计。 关键词: 变胞机构；构态变换；关联矩阵；矩阵演算 中图分类号：TH112 文献标识码：A Incidence Matrix Representation of Configuration Changes in Metamorphic Mechanisms Chang Boyan1, 2, Jin Guoguang1, 2, Dai Jiansheng3 , Yang Shiming1, 2, Yun Jintian1, 2 (1. School of Mechanical and Electronic Engineering, Tianjin Polytechnic University, Tianjin 300160; 2. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tianjin 300160; 3. Department of Mechanical Engineering, King’s College, University of London, London) Abstract: Four elementary metamorphic processes are proposed based on characteristics of variable topology in metamorphic mechanisms: change in the number of components, change in the number of kinematic joints, change in the type of kinematic joints and change of link connectivity. Combining these processes can fulfill all metamorphic requirements. In order to represent the processes of configuration changes completely, conveniently and clearly, incidence matrix with type of kinematic joints and its logical operation are introduced to describe the metamorphic processes, and meanwhile, the logical expression of configuration changing equation and five kinds of elementary metamorphic matrices which are used to fulfill the metamorphic processes are given. This method can describe the process and purpose of configuration changes intuitively and it’s easy to construct the metamorphic matrix. In contrast with traditional mathematical operation, it’s propitious for metamorphic mechanisms’ computer aided design because the number of times of logical operation is much less and it’s unnecessary to renumbe