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The spanning tree method of identifying isomorphism and topological symmetry to planar kinematic chain with multiple joint is presented. Directly using the kinematic chain’s structural graph in the mechanism motion sketch or its inversion,the connected relations of components and joints can be presented through the spanning tree constructed by Depth First traversal the graph and the distribution of back edge. Then, whether two graph isomorphism and components’topological symmertry can be identified through comparing the structural characteristic of spanning tree and the distribution characteristic of back edge. The study shows that the method is effective, directly perceptible, simple and convenient, and easily dealt with by computer.
The spanning tree method of identifying isomorphism and topological symmetry to planar kinematic chain with multiple joint is presented. constructed by Depth First traversal the graph and the distribution of back edge. Then, whether two graph isomorphism and components’topological symmetry can be identified through comparing the structural characteristic of spanning tree and the distribution characteristic of back edge. The study shows that the method is effective, directly perceptible, simple and convenient, and easily dealt with by computer.