Numbering method for the kinematic chain isomorphism recognition of a planar mechanism

Abstract

Abstract The kinematic chain isomorphism identification of a planar mechanism is an important part of the innovative design of kinematic chain regeneration. Based on the structural characteristics of the kinematic chain of a planar mechanism, a new method, i.e. the numbering method, is proposed for isomorphism identification. Firstly, the links of a kinematic chain are numbered according to certain rules, and they are normalized. Then, the normalized contracted link adjacency matrix is used to represent the connection of the kinematic chain graph. Based on whether the contracted link adjacency matrix of two kinematic chains is the same, we can judge whether the two links are similar.