Digital Modeling and Algorithms for Series Topological Mechanisms Based on POC Set

Abstract

The algorithm and software implementation of POC set automatic analysis for serial mechanism based on position and orientation characteristic equations are studied. Firstly, a digitized matrix which can describe the complete topological structure of the serial mechanism is proposed. The POC set of the serial mechanism is represented by two-dimensional binary matrix, which not only describes the dimension of the motion output, but also gives the relationship between the output characteristic azimuth and the axis of the motion pair. Based on the digital description method, the suitability calculation is proposed on the basis of binary “and”, “or” operation. The automatic analysis algorithm of POC set of computer automatic analysis is realized, and then the automatic calculation and analysis of POC set of serial mechanism is realized. Finally, the feasibility of the algorithm is verified by digital modeling analysis.