Resumen de Computer-aided detection of isomorphism among planar kinematic chains using regression loop-based method

Luchuan Yu, Jianhua Zhang, Qinhe Zhang

• The isomorphism identification among planar kinematic chains is an essential step in the structural synthesis. This article presents some new concepts, such as the regression loop and the regression loop set. The regression loop is a combination of independent loops. According to the mathematical operation “,” the regression loop set is considered to be the unique representation from kinematic chain to isomorphism identification.

  And the sequence and direction of labeled links have no effect on the results of isomorphism identification. Based on the inherent relation among links and joints, this article proposed a regression loop-based method to identify isomorphism among planar kinematic chains. Some classic examples are illustrated to confirm the effectiveness of the proposed method. Compared with other classic methods, the proposed method is available and there is no counter-example. It enriches the loop theory for isomorphism identification and lays a solid foundation in the structural synthesis.