Abstract: The digit weighted simplified graph and corresponding matrix and code for the representation of the topological structure of kinematic chains are given in this paper. A new parameter called incident which can describe the topological characteristics of the vertexes in a weighted graph is first introduced to distinguish different types of vertexes in the graph. Then the incident degree code of a kinematic chain can be obtained, which is one-to-one corresponding to the topological structure. The identification of isomorphism for kinematic chains can be correctly and efficiently performed using the method presented in this paper.

Key words: 结构, 识别, 拓扑, 运动