A Parametric Approach to Detect Isomorphism and Inversion in the Planar Kinematic Chains

Abstract

This work deals with the problem of detection of isomorphism and inversions among planar kinematic chains. To detect isomorphism and inversions a least distance matrix (LDM) is formed using the values on the basis of the parameter. Isomorphism is detected on the basis of chain string (CS) of least distance matrix (LDM). An inversion is generated by grounding a different links in the kinematic chain. Here, link string (LS) is generated for the different kinematic inversions of the chains so that we can detect kinematic inversions with the help of link string (LS).