Loop based pseudo Hamming values - I. Testing isomorphism and rating kinematic chains

Topology of kinematic chains is useful in comparing them from the structural-error point of view and an attempt was made by one of the authors in this direction. The method reported, however, fails to compare the chains which consist of the same number and type of links and joints, ternary-binary, ternary-quaternary, etc. but differ in loop formation only. The present paper supplements the earlier work and makes it complete. Further, comparison of the loop Hamming values of links and chains is expected to be the simplest and positive test for isomorphism. A note on the type of freedom is also included.