利用邻接矩阵概念枚举空间机械臂
Enumeration of spatial manipulators by using the concept of Adjacency Matrix
AI总结：
本文提出利用邻接矩阵概念对含转动、移动、圆柱和球面关节的空间机械臂进行系统枚举，并给出多类自由度与连杆组合的具体数量结果。
摘要：
本研究关注空间机器人机械臂的枚举，这是尺寸综合配套研究的重要基础，两者共同在机械臂综合中展现出更广泛的用途。机械臂的枚举通过邻接矩阵概念完成。本文提出了一种将邻接矩阵应用于具有四种关节类型的空间机械臂的新方法，这四种关节分别为转动关节、移动关节、圆柱关节和球面关节。文中讨论了该概念应用于三维机械臂时的局限性。基于一组约定和若干假设，对四连杆的1自由度机械臂，以及三连杆、四连杆和五连杆的2自由度、3自由度和4自由度机械臂进行了枚举。最终给出了96种四连杆1自由度机械臂、641种五连杆2自由度机械臂、4种三连杆2自由度机械臂、8种四连杆3自由度机械臂和15种五连杆4自由度机械臂。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
