The number of synthesized kinematic chains usually is too large to evaluate individual characteristics of each chain. The concept of connectivity is useful to classify the kinematic chains. In this paper, an algorithm is developed to automatically compute the connectivity matrix in planar kinematic chains. The main work is to compute two intermediate parameters, namely the minimum mobility matrix and the minimum distance matrix. The algorithm is capable of dealing with both simple-jointed and multiple-jointed kinematic chains. The present work can be used to automatically determine kinematic chains satisfying the required connectivity constraint, and is helpful for the creative design of mechanisms. The practical application is illustrated by taking the face-shovel hydraulic excavator for instance.

合成运动链的数量通常太大，无法评估每个链的单个特征。连接性的概念对运动链分类很有用。本文提出了一种算法来自动计算平面运动链中的连通性矩阵。主要工作是计算两个中间参数，即最小迁移率矩阵和最小距离矩阵。该算法能够处理简单连接和多连接运动学链。本工作可用于自动确定满足所需连接性约束的运动学链，有助于机制的创新设计。以面铲式液压挖掘机为例进行说明。