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SONG Li
HUANG Yong
CHENG Ling
Department of
Mechanical Engineering,
Xiangtan University,
Xiangtan 411105, China
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ADJACENT MARTIX METHOD
OF IDENTIFYING ISOMORPHISM
TO PLANAR KINEMATIC CHAIN
WITH MULTIPLE JOINTS
AND HIGHER PAIRS
Abstract:
The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural charac- teristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn’t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.
Key words:
Planar kinematic chain Higher pair Multiple joint Adjacent matrix Identifying isomorphism
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