Abstract—Kinematic linkages play a very vital role in the motion/power transmission and as well in the generation of various workspaces/functions which in turn affect the type and nature of work done by a given linkage. The usage of kinematic linkages is thus very much necessary in the robot manipulators so as to obtain the necessary motion of the end-effectors to perform various tasks assigned to the robot. The robot manipulator linkages are till date being generated and selected based on the trial and error and there is as such no measure to decide or fix which one of the available linkages is the most appropriate one for a specified task of the end-effector. Detection of similarity between two or more linkages (Isomorphism) is very much important in this regard so that before using the optimizing techniques itself we reduce the number of linkages being considered for a fixed task to a minimal level, and Distinct number technique is very much is a step towards this way. Isomorphic linkages of same configuration and their analyses is based on the equations governing the size of workspace and the condition of workspace, with the help of a ‘c’ programme an attempt is made for this purpose. The output of these programs or the programs as a whole can be utilized by robot manufacturing company for choosing the optimum kinematic linkage for the end-effectors of the manipulator for the robot being manufactured by them to suite a specific purpose which in turn shall satisfy the requirements and becomes a less time consuming process as well as economic for the manufacturer and can even improve the efficiency of the end-effectors

Index Terms—Isomorphism, Distinct number, Adjacency, Graph

Cite: V V Kamesh, A B Srinivasa Rao and K Mallikarjuna Rao, " A Computer Based Technique for Structural Comparison of In Parallel Robotic Manipulators Applicable For Higher Pairs," International Journal of Mechanical Engineering and Robotics Research, Vol.1, No. 1, pp. 107-119, April 2012.