A new method for distinct inversions and isomorphism detection in kinematic chains. (2016)

• Record Type: Journal Article
• Authors: Rizvi, Syed Shane Haider; Hasan, Ali; Khan, Rasheed Ahmad
• Is Part Of: International journal of mechanisms and robotic systems. Volume 3:Number 1(2016)
• Page Start: 48
• Page End: 59
• Publication Date: 2016
• Subjects: chain signature -- distinct mechanisms -- kinematic chains -- link identity matrix -- invariant link signature -- distinct inversions -- isomorphism detection; Robotics -- Periodicals; Mechanical engineering -- Periodicals; 629.892
• Languages: English
• ISSNs: 2047-7244

Abstract

In this paper, a new method for obtaining the number of distinct mechanisms from a kinematic chain based on a unique matrix representation of the links of a kinematic chain termed as link identity matrix (LI) is presented and a new invariant link signature (LS) is introduced, which is the sum of absolute value of the characteristics polynomial coefficient of the LI matrix for the representation of a distinct link. The similar values of the LS represent equivalent links further the LS values of a chain are used to determine the isomorphism among the kinematic chains and also assigns a signature to every chain known as chain signature (CS) obtained by summing all LS values of that chain and it is a unique identity assigned to every non-isomorphic chain.