Description and Isomorphism Judgment of the Kinematic Chain with Multiple Joints Based on Link-link Adjacency Matrix

doi:10.3901/JME.2020.03.041

Abstract

Abstract: In the synthesis process of kinematic chain, the isomorphism determination of kinematic chain is an important and complicated problem. A new method to improve Hamming number isomorphism determination based on link-link adjacency matrix is proposed. In view of the difficulty in analysis and identification of multiple joint in kinematic chain, a link-link adjacency matrix description method of kinematic chains with multiple joints is proposed. This matrix contains the topological structure information of the kinematic chain and is unique in description. Then, the principle of improve Hamming number is defined, and the proposed new method of improve Hamming number is adopted to identify isomorphism of the kinematic chain with with multiple joints. Finally, the case proves the accuracy and efficiency of the new method.

Key words: multiple ltiple joint, link-link adjacency matrix, kinematic chain, isomorphism detection, improve Hamming number

CLC Number:

TH112

SUN Wei, KONG Jianyi, WANG Xingdong, HOU Yu. Description and Isomorphism Judgment of the Kinematic Chain with Multiple Joints Based on Link-link Adjacency Matrix[J]. Journal of Mechanical Engineering, 2020, 56(3): 41-46.

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