The Type Structural Synthesis To Planer Kinematic Chain With Multiple Joints And Higher Pairs

With the development of computer technique, in order to meet the requirement of short design period, various kind products, a new type synthesis method to the planar kinematic chain with multiple joints and higher pairs is presented. The type synthesis of the planar kinematic chain is to find the all frame of the chain with a certain number of bar and degree of freedom (DOF). Some important problems on type synthesis method to planar kinematic chain with multiple joints and higher pairs are studied based on the adjacent matrix of planar kinematic chain.Firstly, the new topological invariants—multiple stage-component connecting joint and higher pair is developed. The spectrums of degree, stage, multiple joint, multiple stage-components connecting joint and higher pair are defined. These spectrums are presented as the structural characteristics of planar kinematic chain with multiple joints and higher pairs. The classification method to planar kinematic chain with multiple joints and higher pairs based on structural characteristic is studied.Secondly, the concept of reconfiguration of adjacent matrix and repetitious division of bars is developed. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristic of adjacent matrix, the number of division and division code are presented. Comparing the structural characteristic of two adjacent matrixes by a method called matching row-to-row, whether the two kinematic chains are isomorphic can be identified. so,the methods of identifying isomorphism are unified in the planer kinematic chain that has or hasn't higher pairs with or without multiple joints.Thirdly, according to the traditional theory that low pair can be replaced by higher pair, the adjacent matrix method of type structural synthesis to planar kinematic chain with multiple joints and higher pairs is presented. In the transforming process, the handling method of multiple stage bar and multiple joint is discussed.According to basic theories in above, the program has been developed using C++. Transforming all 9-bars and 2-DOF planer kinematic chain with or without multiple joint into the planer kinematic chain with multiple joints and higher pairs, 336 classes 1620 kinds structural type are obtained, which these are of independent each other.