Title: Some new codes for isomorphism identification among kinematic chains and their inversions

Authors: Ashok Dargar; Ali Hasan; R.A. Khan

Addresses: Department of Mechanical and Automation Engineering, Amity School of Engineering and Technology, Amity University, Noida, India ' Department of Mechanical Engineering, Faculty of Engineering and Technology, Jamia Millia Islamia University, New Delhi-110025, India ' Department of Mechanical Engineering, Faculty of Engineering and Technology, Jamia Millia Islamia University, New Delhi-110025, India

Abstract: The present work deals with problem of identification of isomorphism which is frequently encountered in structural synthesis of kinematic chains. Using the concept of weighed structural matrices some new codes has been proposed to reveal simultaneously link is isomorphic and chain is isomorphic. Firstly, two new codes for each link, called as extended adjacency link value (EALV) and link total loop size (TLS) are developed to detect distinct mechanisms of a kinematic chain. After that for each kinematic chain a new code called as extended adjacency string (EAS) which is a by-product of the same method is developed. The proposed method is easy to compute, reliable and capable of detecting isomorphism in all simple jointed compound kinematic chains. Some examples are also provided to demonstrate the effectiveness of this method.

Keywords: kinematic chains; distinct mechanisms; isomorphism identification; structural synthesis.

DOI: 10.1504/IJMRS.2013.051290

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.1, pp.49 - 67

Received: 05 Mar 2012
Accepted: 21 May 2012

Published online: 31 Dec 2012 *

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