The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic c...The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic chains. It is simple and reliable to detect isomorphism of planar kinematic chains by using the link-link path matrix.展开更多
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 compa...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 characteristics 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.展开更多
文摘The isomorphism of planar kinematic chains is studied. The original methods for de- tecting isomorphism is discussed. A new matrix, the link -link path matrix, is presented to show the structures of planar kinematic chains. It is simple and reliable to detect isomorphism of planar kinematic chains by using the link-link path matrix.
文摘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 characteristics 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.
