加值矩阵对平面含复铰运动链描述与同构判定
Representation and Isomorphism Identification of Planar Kinematic Chains with Multiple Joints on Value-added Matrix

针对机构综合和优化的同构判定问题，分析含复合铰链的运动链的构成元素，提出一种区分运动链元素的加值矩阵的方法，从而有效描述运动链中的复铰和构件等信息。结果表明：加值矩阵对单铰和复铰的运动链有着相同的构建思路，相较于传统的顶点邻接矩阵和转化邻接矩阵有着信息多和简易构建等特点；利用计算机计算加值矩阵的特征值及特征向量就可以进行运动链的同构判定，这种方法具有准确简单的特点；加值矩阵为描述各种类型的运动链提供了一种快速高效的途径。
A method of distinguishing motifs of moving chain elements is proposed to analyze the constitutive elements of kinematic chains with multiple joints, and study isomorphism identification of mechanical synthesis and optimization which can effectively describe information of multiple joints and components in the kinematic chain. In fact, there is the same train of thought for simple joints and multiple joints on value added matrix. Compared with traditional vertex adjacency matrix and transformation adjacency matrix, the value-added matrix has the characteristics of more information, convenience and easily-construction. The isomorphism of the kinematic chain is identified with computer to calculate the eigenvalue and eigenvector of the value-added matrix, in which the method has the characteristics of accuracy and simplicity. A quick and efficient way is provided by value-added matrix to describe various types of kinematic chains