Application of link adjacency values to detect isomorphism among kinematic chains

作者：Dargar Ashok^*; Khan R A; Hasan Ali

来源：International Journal of Mechanics and Materials in Design, 2010, 6(2): 157-162.

DOI：10.1007/s10999-010-9119-1

• Kinematic chain (KC)
• Isomorphism
• Joint value
• Link value
• Degree of freedom (DOF)

The present work deals with problem of detection of isomorphism which is frequently encountered in structural synthesis of kinematic chains. A new method has been proposed using two invariants called as First adjacency chain link string [FACLS] and Second adjacency chain link string [SACLS]. These invariants take into account the degree of links and type of joints and are used as the composite identification number of a KC. The proposed method is easy to compute, reliable and capable of detecting isomorphism in all types of compound KC, i.e. chains of single or multi degree of freedom with simple or multiple joints. This study will help the designer to select the best KC and mechanisms to perform the specified task at conceptual stage of design. Some examples are provided to demonstrate the effectiveness of this method.

• 出版日期2010-6