Detection of Isomorphism among Kinematic Chains by Assigning type number of different joints

This paper presents a new method for identification of inversions of kinematic chain (KC) A computer aided method has been proposed for detecting isomorphism among planar kinematic chains with simple joints using a new invariant called shortest path of total distance ranks of all the links (SPTDR). This invariant takes into account the degrees of links, and degrees-of-freedom and type number assign to types of joints of the kinematic chain. The basic aim of this work is to facilitate the designer at the conceptual stage of design to select the best mechanism/kinematic chains for the required specific task.