Abstract: The
spanning tree method of identifying isomorphism and topological
symmetry to planar kinematic chain with multiple joint is
presented. Directly using the kinematic-chain's structural graph
in the mechanism motion sketch or its inversion, the connected
relations of components and joints can be presented through the
spanning tree constructed by Depth-First traversal the graph and
the distribution of back-edge. Then, whether two graph
isomorphism and components' topological symmetry can be
identified through comparing the structural characteristic of
spanning tree and the distribution characteristic of back-edge.
The study shows that the method is effective, directly
perceptible, simple and easily dealt with by computer.
Key words: Structural
graph of kinematic chain Multiple joint Isomorphism Topological
symmetry Spanning tree
Manuscript
received on May 29, 2000; revised manuscript August 26, 2000
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