Identification of Isomorphism in Nine Links Two Degree of Freedom Kinematic Chains Using Hamming Method

Abstract

Isomorphism identification is a difficult problem in kinematic chains (KC). There are a number of methods proposed by many researchers to detect the isomorphism and inversion of kinematic chain but each has its own shortcomings. Purpose of this paper is to give an efficient and reliable method for detection of isomorphism and inversion among the KC which can be less time consuming among many other related techniques. An attempt has been made to provide satisfactory solution to detection of isomorphism by using Hamming method. The Hamming Number is computed by using the direct method of writing the Hamming matrix, which save time and effort. Link Hamming string which is defined as the string obtained by concatenating the link Hamming number and the frequency of individual Hamming numbers in that row is then formed. Finally, chain Hamming string defined as the string obtained by the concatenation of the chain Hamming number and the link Hamming strings in descending order is formed. This method is implemented on the nine links two degree of freedom.