New characteristic polynomial-a reliable index to detect isomorphism between kinematic chains

Abstract

Graph theory is used and an nth order symmetric matrix hased on 'distance' defined to represent a simple and multiple jointed II-link kinematic chain. based on FAddeev-Levertier method computer programming is used for generating the coefficient of the characteristic polynomial of the matrix associated with the kinematic chain. A comparison of characteristic polynomials of the matrics detects the isomorphic chains. A method is illustrated by application to single and two degree of freedom linkages.