Automatic Synthesis Of Multiple Joint Kinematic Chains Based On Atlas Database Of Planar Simple Joint Kinematic Chains

With the development of technology, the research and application on the various mechanisms in aviation equipment, satellite industry, marine engineering equipment and intelligent manufacturing equipment and other high-end equipment manufacturing industry are carried out more and more deeply and widely. Mechanical equipment is becoming more efficient, complex, precision, automation and energy conservation day by day. Theoretical studies of modern mechanisms are the foundation of design and innovation of high-end equipments, thereinto the innovation design of mechanism structure is the most original and challenging core content in mechanical inventions. The type synthesis of mechanism can effectively solve the problem of selection in the mechanism innovative design process. For a long time international intellectuals have been proposed many effective mechanism synthesis methods, greatly enriches and develops the theory of mechanism. But the relationship between the various links becomes more complex as the number of links increases. The existing synthesis methods can’t solve the synthesis problem of complex mechanism and this makes mechanism synthesis become a major difficulty in international mechanism academic. Therefore, the mechanism synthesis has not yet formed a universal and systematic method, especially for the systhesis of multiple joint kinematic chains and still need further study. Based on this, on the basis of the atlas database of single joint kinematic chains, this paper proposes synthesis theory of multiple joint kinematic chains based on transferring mul-degree vertex, completes the software development and design and builds the atlas database of multiple joint kinematic chains. This subject is significant to solve the problem of mechanism selection in the mechanical innovation design.Firstly, the paper briefly introduces the basic concepts of plane kinematic chains, as well as establishs the model of multiple joint kinematic chain based on the generation theory of multiple joint and easy to carry out in computer, including topological graph and adjacency matrix. Then, the paper analyses the relationship between single joint topological graph and multiple joint topological graph and presents research mentality of synthesising multiple joint kinematic chains.Secondly, the paper presents a normalized description theory for multiple joint topological graphs to identify the isomorphism. Based on loop theory, the selection rules of out loops and the sorting rules of inner chains are established and all vertices are renumbered on basis of this. This implements the normalized description for multiple joint topological graphs.Thirdly, the paper presents the method of transferring mul-degree vertex to synthesis multiple joint kinematic chains based on the atlas database of single joint kinematic chains, and the detail algorithms and steps are given, including the selection rules of mul-degree vertices, isomorphism detection and sub-chain detection.Finally,the paper does the software design and code development. Statistics and analysis of results on basis of this software are made. The results of 10 links and within 10 links show agreement with the previous papers. The datas of more than 10 links and up to 16 links is a new result of this paper. Taking the forging manipulator as an example, the paper briefly introduces the application on mechanism selection of the atlas database established in the process of mechanism synthesis.