Atlas of Fixed Links and Equivalent Links in Mechanisms of 6 Links, 7 Joints, 1F Kinematic Chains Using [JJ] Matrix

Author's objective is to develop a new, easy, reliable, and efficient method to detect isomorphism and prepare a catalogue of fixed link and its corresponding equivalent links in the distinct mechanisms in kinematic chains of Group B. It will help the new researchers/designers to select the best mechanism kinematic chain and mechanism to perform the desired task at the conceptual stage of design. The proposed method is presented by comparing the structural invariants ‘sum of the absolute values of the characteristic polynomial coefficients’ [SCPC] and ‘maximum absolute value of the characteristic polynomial coefficient' [MCPC] of [JJ] matrices. These invariants may be used to detect isomorphism in the mechanism kinematic chain having simple joints. The method is explained with the help of examples of planar kinematic chain having simple joints.