Both incidence and adjacency matrices
determine the topological structure of a
Abstract--A unique method based
square shortest link path [SSLP] matrix
has been introduced for a planar
kinematic chain along with simple
joints. Kinematic chains are modeled by
square shortest link path [SSLP] matrix
first. The isomorphism of kinematic
chains can be efficiently identified, by
simply comparing the eigen spectrum
and corresponding vectors of square
shorted link path matrix. An algorithm
has been developed for determining
distinct mechanisms drived from given
kinematic chains and identification of
isomorphism among the kinematic
chains. Some examples are kept to
explain the effectiveness of the method.
1. Introduction
In the field of structure synthesis, an
important aspect is the identification of
isomorphic structure of the kinematic
chains. Unidentified isomorphic
structure results in duplication, while
wrongly identified isomorphism curtail
the number of significant solutions for
unique designs.Several approachs have
been proposed for identification. Some
of them are just based on visual
inspection while others approaches are
based heuristic in nature. Each method
has its own pros and cons. An ideal
algorithim should be developed which
posses unlikeness, efficientness and
decodability
mechanism up to structure
isomorphism. They fulfill the
unlikeness and decodabilty but they are
computational inefficient. For this
reason, several methods have been
proposed so far. Identification by
classification, according to the number
of links, number of joint, different link
assortment the families of kinematic
chains can be classified . kinematic
chains of different families are not
required isomorphic identification. This
has been used as the fact for
classification and identification of the
topological structure of kinematic
chains. Bushsbaum and Freudenstein
[1]
[1]. The application of characteristic
polynomials. [2,3].
[4]. Ambekar and Agrawal were the
first to adapt code-based approaches
[5,6], and other researchers also
developed their own code methods [7
9]. Rao and Raju proposed the
Hamming value of a link as an invariant
index to detect isomorphic mechanisms
[10,11], but it is still far from being
considered as a candidate for
incorporating in computerized synthesis
[12]. Yan [13,14] presented the
permutation
group method to identify the
isomorphic mechanisms. A method
named the adjacent-chain-table method
is proposed by Chu and Cao, in which
they defined a multi-layered structure
of link labels for each link of a chain
[15]. Link adjacency value method was
given by Ashok Dargar et al. to identify
the
isomorphism by calculating the first
and second link adjacency values [16].
Li et al. pointed out that the powers of
the adjacency matrix could be used to
detect mechanisms [17], and the
method is based on distances. Tang and
Liu developed a method based
2. Theory
2.1 Degrees of the link d (Li)
The degree of a link actually
represents the type of the link, such as
binary, ternary, quaternary links etc. Let
the degree of it link in a kinematic
chain be designated d (Li) and d (Li) =
2, for binary link, d (Li) = 3, for ternary
link, d (Li) = 4, for quaternary link and
d (Li) = n, for n-nary link.
Kinematic chain
A kinematic chain is an combination of
links connected in such a way that
relative motion between them is
definite . in case the motion of a link
results in indefine motion of other links,
it is consider as non-kinematic chain
Linkage and Mechanism
A linkage is refered if one of the links
of kinematic chain is considered as
frame which exhibits no motion. If the
relative motion between the links are
constrain motion, the linakge is known
as a mechanism
Squared shortest link path matrix
[SSLP]
The link path between two links i and j
is an alternating sequence of links and
joints starting from link i and
terminating at link j. The sum of the
degree of links existing inbetween ith
and jth linkis in link path is called path
length or link path , the shortest of all
the link paths is called shortest link path
. The link path does consider the degree
of links in the path i.e. The shortest link
path will be counted as two if on the
shortest path of two links there is a
binary link between them
In the present work a new matrix is
proposed. The proposed squared
shortest link path is the least of the
summation of the squared values of
degrees of links between i and j. The
[SSLP] is represented as a square
symmetric matrix of size n x n, where n
is the number of links in a KC.
A kinematic chain is represented by a
squared shortest link path matrix, SSLP =
[sij], which is defined as:
1, if ith and jth are
directly connected
Summation of squared
values of degrees of links
SSLP [ sij ]nxn between ith and jth links on
shortest path for i j

(dli)2, i.e Square of the
degree of ith link if i =j
Isomorphism of kinematic chains
Two kinematic chains are consider to
be isomorphic if both share same
structure toplogy.unrecognized
isomorphic structures lead to born
duplicate solution, while wrongly
recognized isomorphism minimize the
number of solution for unique design.
In the field of graph theory, graphs said
to be isomorphic if existance of one-to-
one correspondence among their
vertices as well as edges are found that
preserve incidence .
Mathematically, structural isomorphism
of the kinematic chains can be
recognized by incidence or adjacency
matrices. However, the adjacency
matrix as well as incidence matrix is
changed while changing the labeling of
links in a kinematic chains
Identification string(ISi) for kinematic
chain
The identification string may be defined
as the unique string in which all the
informations are furnished in a single
string of a given kinematic chain, it is the
combination of the number of degree of
freedom, link nomenclature, connection
nomenclature and Absolute sum of
eigen vaues of squared shortest link
path [SSLP] Matrix string. It is
represented as follows
( ) = F/ N/j/ --- /E Z D
V/|abseigen value|
Where F, N, j, , n4, n3, n2, E, Z, D, V,
and | abseigen value | are defined as
follows
2.5.1 Degree of freedom (F)
Degree of freedom is the number of
independent variables needed to
accurately position all links of the
mechanism with respect to the fixed
link, it is also known as mobility and
generally referred as symbol F. The first
string of the classification string is the
number of degree of freedom (F) of the
given kinematic chain
2.5.2 Link Nomenclature String
The Link nomenclature string has the
information about the total number of
links as well as the number of types of
links existing in the kinematic chains. It
is the second string of the classification
string. It is represented as follows
N/j/ --- /
N is the total number of links, j Number
of joints, imax = N/2, n4 , n3 , n2 are
the max degree of link, quaternary,
ternary and binary
2.5.3 Connection Nomenclature String
It is the representation of the number
of types of connections present in the
given kinematic chain . It is the third
string of classification string. It is
represented as follows
/E Z D V/
Where, E, Z, D and V are the Number of
E-, Z-, D- and V-chains existing in the
given kinematic chain
2.5.4 Determinant of Skeleton [S]
Matrix String
Last and most important position of
classification string is left for the
determinant of Skeleton Matrix [S]
string as it possess secondary condition
for detection of isomorphism. If the
classification string mapped for the
respective chain except the last string it
probably be an isomorphic chain
because it fulfills a primary condition. It
is represented as |S|
If two kinematic chains are isomorphic,
their skeleton matrices may become
identical by applying interchange of
rows and columns at the same time [36]
and matrices are equivalent therefore
determinant of [S] matrix can be
utilized as an invariant. If the
determinant of two [S] matrixes is same,
then they full fill the secondary
condition of isomorphism
of [SSP]I matrices are obtained by fixing
link one by one to for determining
absolute sum of eigen value one by one
It is represented as follows
( ) = F/ N/j/ --- /E Z D
V/|abseigen value|
The difference between identification
string of a kinematic chain, only one
string is found for the kinematic chain
but in case of mechanism, there are n
number of identification string for
mechanism where Nd is the number of
distinct mechanism
is the value of absolute sum pf eigen
value which is obtain for the mechanism
by making the elements of first row and
column to zero and then determine the
absolute sum of eigen value the [SSLP]
matrix

det( ) = ( ) or | | = | |
Identification string(ISi) for
kinematic chain
Identification string for mechanism (2 ) =01/08/10/04 00 04 04/00 02 04
00/148.8330
The identification string for mechanism
may be defined as the unique string in
which all the informations are furnished Identification string for mechanism
in a single string of a mechanism, it is (2 ) =01/08/10/04 00 04 04/00 02 04
the combination of the number of 00/124.8400
degree of freedom, link nomenclature, (2 ) =01/08/10/04 00 04 04/00 02 04
connection nomenclature and Absolute 00/124.8400
sum of eigen vaues of squared shortest
link path [SSLP]i Matrix string. As we (2 ) =01/08/10/04 00 04 04/00 02 04
know To identify mechanism first 00/124.8400
change the elements of first row and (2 ) =01/08/10/04 00 04 04/00 02 04
first column to zero and then determine 00/124.8400
the absolute sum of eigen values , (2 ) =01/08/10/04 00 04 04/00 02 04
changing the elements of different rows 00/121.9752
and columns to get the n number of
absolute sum of eigen values value sum (2 ) =01/08/10/04 00 04 04/00 02 04
00/121.9752
(2 ) =01/08/10/04 00 04 04/00 02 04
00/121.9752
(2 ) =01/08/10/04 00 04 04/00 02 04
00/121.9752