Computer aided detection of isomorphism among kinematic chains and mechanisms using the concept of modified distance

Abstract A computer aided method has been proposed for detecting isomorphism among planar kinematic chains with sample joints using a new invariant called the arranged sequence of modified total distance ranks of all the links (ASMTDRL). This invariant takes into account the degrees of links, and degrees-of-freedom and types of joints of the kinematic chain. Two computer aided methods have also been developed for identifying distinct mechanisms of a planar kinematic chain with simple joints.