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在可重构机器人的设计和应用中,需要对不同单元组合的拓扑结构进行研究和分析,为此提出了一种新的可重构机器人单元结构模型。在此基础上,研究了可重构机器人的非同构树状拓扑结构列举问题。通过规则层序列的递推算法得到所有单元组合的有根树状结构,再利用基本层序列的判断条件,直接从递推结果中选取非同构的自由树状拓扑结构,简化并改进了相应的列举算法。最后对非同构拓扑树的结构及其数目进行了仿真计算。结果表明,文中所述算法可以根据一组给定单元结点计算出所有的单元组合非同构树状拓扑结构。
In the design and application of reconfigurable robots, it is necessary to study and analyze the topological structure of different cell combinations. To this end, a new reconfigurable robot cell structure model is proposed. On this basis, we study the enumeration of non-isomorphic tree topologies of reconfigurable robots. The root tree structure of all the unit combinations is obtained through the recursive algorithm of the regular layer sequence, and the judgment conditions of the basic layer sequence are used to directly select the non-isomorphic free-form tree topology from the recursive result to simplify and improve the corresponding The list of algorithms. Finally, the structure and number of non-isomorphic topology tree are simulated. The results show that the algorithm described in this paper can calculate all the unit non-isomorphic tree topologies based on a given set of unit nodes.