On Identification and Canonical Numbering of Pin-Jointed Kinematic Chains

[+] Author and Article Information
Jae Kyun Shin, S. Krishnamurty

Department of Mechanical Engineering, University of Massachusetts, Amherst, MA 01003

J. Mech. Des 116(1), 182-188 (Mar 01, 1994) (7 pages) doi:10.1115/1.2919344 History: Received December 01, 1990; Revised January 01, 1992; Online June 02, 2008


This paper deals with the development of a standard code for the unique representation of pin-jointed kinematic chains based on graph theory. Salient features of this method include the development of an efficient and robust algorithm for the identification of isomorphism in kinematic chains; the formulation of a unified procedure for the analysis of symmetry in kinematic chains; and the utilization of symmetry in the coding process resulting in the unique well-arranged numbering of the links. This method is not restricted to simple jointed kinematic chains only, and it can be applied to any kinematic chain which can be represented as simple graphs including open jointed and multiple jointed chains. In addition, the method is decodable as the original chain can be reconstructed unambiguously from the code values associated with the chains.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Chain
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