论文标题
使用邻接矩阵的概念对空间操纵器的枚举
Enumeration of spatial manipulators by using the concept of Adjacency Matrix
论文作者
论文摘要
这项研究是关于空间机器人操纵器的列举，这是对维度合成的伴侣研究的重要基础，这两者在操纵器合成中均具有更广泛的效用。操纵器的枚举是通过使用邻接矩阵概念来完成的。在本文中，提出了一种新颖的方式，将邻接矩阵应用于具有四种关节类型的空间操纵器，即反抗，棱柱，圆柱形和球形关节。讨论了该概念对3D操纵器的适用性的局限性。根据一组公约和一些假设，列举了四个链接和2多种链接，四个链接和五个链接的四个链接，三型和4多道操作器的1多道（自由度）操纵器。最后，提供了96个链接的96个1-DOF操纵器，5个链接的641个二-DOF操纵器，4个链接的4个2多型操纵器，四个链接的8个3型操纵器和15个4个链接的4多道操纵器，列出了5个链接。
This study is on the enumeration of spatial robotic manipulators, which is an essential basis for a companion study on dimensional synthesis, both of which together present a wider utility in manipulator synthesis. The enumeration of manipulators is done by using adjacency matrix concept. In this paper, a novel way of applying adjacency matrix to spatial manipulators with four types of joints, namely revolute, prismatic, cylindrical and spherical joints, is presented. The limitations of the applicability of the concept to 3D manipulators are discussed. 1-DOF (Degree Of Freedom) manipulators of four links and 2-DOF, 3-DOF and 4-DOF manipulators of three links, four links and five links, are enumerated based on a set of conventions and some assumptions. Finally, 96 1-DOF manipulators of four links, 641 2-DOF manipulators of 5 links, 4 2-DOF manipulators of three links, 8 3-DOF manipulators of four links and 15 4-DOF manipulators of five links are presented.
