Automatic Analysis And Its Program Implementation Of Robot Mechanism Topological Structure

The topological structure theory of robot mechanism is a hot topic in the study of mechanism.and provides a systematic theoretical method for the development of mechanism.The research of the topological structure theory of robot mechanism represents the development direction of modern institutions,and the development of institutional topology must be realized through cognition to the process of automation.In this paper,the mechanism topology theory and computer technology are combined to realize the automation of the topology analysis of the parallel mechanism,and promote the modern mechanism to move into the automation era.Firstly,the topology structure of the series mechanism is modeled digitally,and the series mechanism topology is fully expressed with 2 basic elements,that is,the sequence of motion pairs and the relation of the kinematic pair.The topology of the parallel mechanism is modeled digitally and the 4 basic elements are fully expressed and the topology structure of the link is constructed,that is the branch of the branch.The sequence,the azimuth relation of the branch chain movement,the dynamic platform configuration relationship and the static platform configuration relation;the azimuth feature set is modeled digitally and the azimuth feature sets are expressed fully with 2 basic elements,namely,the moving direction vector group and the rotation direction vector group.The topological structure of the series mechanism,the topology of the parallel mechanism and the digital modeling description of the azimuth feature set can be applied directly to the analysis of computer programming without conversion.Secondly,based on the topological structure analysis theory of series mechanism and the digital modeling of azimuth feature set,the azimuth characteristic equation of the series mechanism is transformed into multiple vector set union,and the rules of the automatic analysis algorithm based on the series mechanism topology and the replacement rules of the direction vector group are set up,and the topology structure of the series mechanism is automatically divided.The general steps are analyzed and applied to verify the correctness and accuracy of the examples.Thirdly,based on the topology analysis theory of parallel mechanism and the digital modeling of azimuth feature set,the azimuth characteristic equation of parallel mechanism is transformed into multiple vector sets intersection,and the automatic analysis algorithm rules based on the topology structure of the parallel mechanism are established,and the general steps of the topology structure of the parallel mechanism are compiled and applied to the case.Verify its correctness and accuracy.Finally,a series mechanism and a parallel mechanism topology are set up to automatically analyze the overall architecture of the software platform.Based on the Matlab software,the human-computer interface of automatic analysis of the parallel mechanism topological structure is established and the software is applied to the practical application.