Linkage Characteristic Polynomials: Definitions, Coefficients by Inspection

[+] Author and Article Information
H. S. Yan, A. S. Hall

School of Mechanical Engineering, Purdue University, West Lafayette, Ind. 47907

J. Mech. Des 103(3), 578-584 (Jul 01, 1981) (7 pages) doi:10.1115/1.3254957 History: Received June 01, 1980; Online November 17, 2009


A linkage characteristic polynomial is defined as the characteristic polynomial of the adjacency matrix of the kinematic graph of the kinematic chain. Some terminology and definitions, needed for discussions to follow in a companion paper, are stated. A rule from which all coefficients of the characteristic polynomial of a kinematic chain can be identified by inspection, based on the interpretation of a graph determinant, is derived and presented. This inspection rule interprets the topological meanings behind each characteristic coefficient, and might have some interesting possible uses in studies of the structural analysis and synthesis of kinematic chains.

Copyright © 1981 by ASME
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