Rigid Subchain Detection Algorithm of Mechanism Kinematic Chain and Realization of Recursive Program

• 作者: LI Tao
• 来源期刊: 国际设备工程与管理（英文版）
• 年，卷（期）: 2020,（3）
• 页码范围: 171-185
• 页数: 15页
• 语种: 英文
• DOI: 10.13434/j.cnki.1007-4546.2020.0304

摘要

In the process of kinematic chain type synthesis, it is necessary to solve the problems of isomorphism identification and rigid subchain detection. The problem of rigid subchain detection can be reduced to subgraph isomorphism problem, which belongs to NPC problem. This paper introduces the properties, detection methods, algorithm time complexity and program code of rigid subchain of kinematic chain. The detection codes of rigid subchains with different number of links are different. It is necessary to modify the for-loop nesting times of program code according to the change of the link number, so the code reusability is very low. In view of this, the recursive pseudo code of rigid subchain detection algorithm is proposed for the first time, which makes the program can be directly used for rigid subchain detection of any number of links, improves the reusability of the code, and provides a certain reference for the realization and optimization of computer programs for NPC problems in other disciplines. A rigid subchain detection software of kinematic chain was developed, and the rigid subchain detection process of a 16-link kinematic chain was successfully realized in the software.