Isomorphism Check of Structurally Identical kinematic Chains using Coding Technique

Mechanical Engineering.

The kinematic structure of mechanisms is basic to understanding their function[1]. The structure or topology of a mechanism is defined by the number of links, number and type of joints, the connectivity of the links and joints and also the consideration as to which links are to be considered as frame and input. Decimal codes of kinematic chains are readily amenable to retrieval of parent chain and, as such, they hold the key to enumeration process. An optimum selection of range of Decimal codes of chains of a given type, which permits all possible types of connectivity to the link with highest degree (i.e., with highest number of elements), can provide a computerized method of enumeration. The concept is also shown useful in identifying Structurally identical kinematic chains. As these identification codes (Decimal codes)are decodable, they enable reconstruction of topology of kinematic chains/mechanisms on computer.

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