Isomorphism Identification of Planar Kinematic Chains Based on Characteristic Arrays and Computation

At present, the research of isomorphism identification of planar kinematic chains has reached a great improvement, however, most of the methods are proved so complex, inefficient as well as unreliable that the research is hindered and restricted a lot. At the same time, especially with the appearance of the planar kinematic chains with multiple joints, there is less research about the methods. Hence, in the paper, based on the method of kinematic chains with characteristic arrays, one method of isomorphism identification of kinematic chains with single joint as well as multiple joints is proposed presently. What is more, a software based on this new method proposed is developed with Visual Basic. In the end of the paper, an example is analysed in detail with hand computation and this software, through which the method is proved simple, efficient as well as reliable.