The Description and Isomorphism Identification of the Kinematic Chain With Multiple Joints Based on Branch Matrix
In the synthesis process of kinematic chain,the isomorphism determination of similar kinematic chains is a complicated and time-consuming problem.A new method to isomorphism determination of the kinematic chain with multiple joints based on the branch matrix is presented.In view of the difficulty in the analysis and identification of multiple joints in the kinematic chain,a multivariate component numbering and branch matrix description method of the kinematic chains is proposed which can effectively describe the links in the kinematic chain with multiple joints,and is unique in description.Afterwards,a new way which multiplied by primes in the branch matrices to identify isomorphism of the kinematic chain with multiple joints is proposed.The correspondence of different kinematic chains can be directly compared using the method.By comparing the last line of branch matrix and product of prime number array isomorphism,isomorphism determination is achieved.This method is proved to be accurate,effective and simple by several case studies.
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