MODELING AND ISOMORPHISM VERIFICATION OF EIGHT LINKS BASE KINEMATIC CHAINS USING MATLAB

The present study deals with the development of all possible kinematic base chains for 8-link single degree of freedom mechanism and to verify the method of Eigen values and Eigen vectors [4] for the identification of isomorphic kinematic chains. Currently for determining the identical kinematic chains methods such as link's adjacent-chaintable [11], Adjacency Matrix [8], Hamming number technique [2], Distance Concept [5] etc. are used that are mostly time consuming and rather more difficult to compute using a program on a computer. In the current study the Eigen values as well as their corresponding Eigen vectors of various kinematic chain assortments are used for comparison. In this the matrix corresponding to the numbering given to the links of the kinematic chain is made and the Eigen values and the Eigen vectors of the same matrix are found using a programme code on MATLAB. These values are then compared to the values and vectors of a differently assorted kinematic chain. If the corresponding Eigen vector and value are found to be same then the kinematic chains are isomorphic