Detection of Isomorphism Among Kinematic Chains Using the Distance Concept

[+] Author and Article Information
J. N. Yadav, C. R. Pratap

Department of Mechanical Engineering, Bihar Institute of Technology, Sindri, District-Dhanbad, Bihar, PIN-828 123, India

V. P. Agrawal

Department of Mechanical Engineering, Indian Institute of Technology, Delhi, Hauz-khas, New Delhi-110016, India

J. Mech. Des 117(4), 607-611 (Dec 01, 1995) (5 pages) doi:10.1115/1.2826728 History: Received March 01, 1994; Revised February 01, 1995; Online December 11, 2007


A new matrix, called the joint-joint relation matrix, is defined for representing the structure of a kinematic chain. An algorithm has been developed for deriving the joint-joint distance matrix of a kinematic chain from its joint-joint relation matrix with the help of the computer. A new structural invariant, called the Arranged Sequence of Total Distance Ranks of all the Joints, and based on the concept of distance, has been developed for a kinematic chain, leading to the development of a simple methodology for detecting isomorphism among planar kinematic chains with simple joints.

Copyright © 1995 by The American Society of Mechanical Engineers
Topics: Chain , Computers , Algorithms
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