AUTOMORPHISM DETECTION IN TWO DEGREE OF FREEDOM NINE LINK KINEMATIC CHAINS

Automorphism is a common phenomenon among the mechanisms obtained from a kinematic chain. Mechanisms are obtained when any link of the chain is fixed with respect to the frame and as many mechanisms are obtained from a chain as there are number of links in it, but detection of automorphs among those mechanisms which were obtained from the kinematic chain is necessary to know the distinct mechanisms and similar mechanisms. Here an attempt is made to develop a simple method to determine the number of isomorphs in a given kinematic chain and also the number of distinct mechanisms. Automorphs and distinct mechanisms are also compared with other chains to confirm the non-isomorphic nature of the group of chains to which the method is applied.