Research On Programmed Structure Analysis For Parallel Manipulators Based On Ordered Single Opened Chains

Based on new structure theory of the sequence single-open-chain modules, the thesis draws into the adjacency matrix of the planar topology to describe the topological structure of parallel manipulators and to study its associated principle and algorithms of automatic structure decomposition.The main contents include in follows:(1) discussed mathematical description methods of the structure of space mechanism, a new adjacency matrix representation of the space mechanism and the automatic extraction algorithm of topological features information are put forward. The expression may include all the information of space mechanism completely, which facilitate computer storage, identification and operation. (2) proposed the suitable program implementation on o calculating degree of freedom and the algorithm of position and orientation characteristic (POC), and listed the table of POC of kinematic link used in space mechanism, which are easy to search for the call of structural analysis; (3) studied the structure decomposition programming of space mechanism based on the coupling degree (-κ-algorithms). It proposed the Institutional structure's automatic decomposition algorithm and specific steps, which apply on the decomposition of several common structural of space mechanism, lay the foundation for the analysis of kinematics and dynamics modeling.The purpose of this article is to achieve rapid computing analysis of the topological characteristics of the robot body, determine the best solution decomposition route. Structural analysis and synthesis of robot systems lay the foundation for software development, and promote institutional order structure of single open chains extension and application of the theory.