欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
由于现有几何约束分解方法无法分解三维装配几何约束闭环系统，故常采用数值迭代方法对其进行求解，但存在效率低、稳定性差等问题．为此，通过分析几何约束闭环图的拓扑结构和串联运动链的结构约束，提出基于串联运动链结构约束等价替换的三维几何约束闭环系统的递归分解方法．该方法通过不断地引入几何约束组合等价替换串联运动链的结构约束，从几何约束闭环系统中分离出可独立求解的子系统，实现几何约束闭环系统的递归分解．该方法可将此前许多必须整体迭代求解的三维几何约束闭环系统分解为一系列可解析求解的2个刚体之间的几何约束系统，明显提高了约束求解的效率和稳定性．最后用实例验证了方法的正确性和有效性．
英文摘要：
Numerical methods are always employed to solve 3D assembly geometric constraint system with closed-loops which can not be decomposed by the existing decomposition methods, but their inherent inefficiency and instability can not be overcome. In this paper, with the analysis of the structural constraint of serial kinematic chain and the topological structure of geometric constraint closed-loop graph, a recursive decomposition algorithm for 3D geometric constraint system with closed- loops is proposed. The basic idea of the proposed algorithm is to introduce the equivalent geometric constraint combination to substitute the structural constraint of serial kinematic chain, and separate the geometric constraint subsystems which can be solved independently from the geometric constraint system with closed-loops. The proposed method can decompose most 3D geometric constraint closed- loop systems which are always solved by numerical method into a series of geometric constraint subsystems between two rigid bodies which can be solved by analytical or reasoning method, so that the computational efficiency and stability can be improved dramatically. Finally, a typical example has been given to validate the correctness and effectiveness of the proposed method.
同期刊论文项目
同项目期刊论文
Detachment avoidance of joint elements of robotic Manipulator with clearances based on trajectory pl
An Efficient Approach to Interpreting Rigorous Tolerance Semantics for Complicated Tolerance Specifi
An Efficient Hybrid Method for Multibody Dynamics Simulation Based on Absolute Nodal Coordinate Form
A Robust Non-blind Public-key Watermarking Algorithm for 3D Mesh Based on Manifold Harmonics Analysi
Simulation of a Viscoelastic Flexible Multibody System Using Absolute Nodal Coordinate and Fractiona
期刊信息
位置：