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IJMERR 2023 Vol.12(4): 239-248
DOI: 10.18178/ijmerr.12.4.239-248

Identification of Isomorphism in Kinematic Chains by Using the Reduced Graph Matrix

Mohamed Aly Abdel Kader * and Abdeslam Aannaque
Mohammadia School of Engineering, Mohamed V University in Rabat, Rabat, Morocco
*Correspondence: mohamedaly_abdelkader@um5.ac.ma (M.A.A.K.)

Manuscript received January 11, 2023; revised March 13, 2023; accepted May 31, 2023 .

Abstract—Kinematic chain synthesis normally begins with the generation of a comprehensive list of candidate solutions followed by a time-consuming procedure for isomorph elimination. As a result, the search for isomorphisms in kinematic chains has long attracted the attention of many researchers. Several methods and algorithms have been proposed in the past. Nonetheless, the field still needs fast, efficient and reliable means to prevent duplications across kinematic chains (KC) (i.e., isomorphisms), particularly for configurations with a significant number of bars. Mechanical designers are resorting to kinematic chains and mechanisms with multiple bars to accomplish more complex operations and movements. This complicates the procedure of determining isomorphism. In this paper, we present a simple and efficient method for identifying isomorphisms in kinematic chains by employing a reduced graph matrix, which reduces the adjacency matrix into a compact matrix corresponding to linkages between non-binary bars while implicitly accounting for binary bars. The algorithm’s efficiency and computing complexity are assessed for a number of published situations, including single-joint kinematic chains with 8, 10, 12 bars, and three-complex 13, 15, 28 bars, and lastly 42-bar kinematic chains. This comparison demonstrates the validity and effectiveness of the proposed method.

Keywords—adjacency matrix, isomorphism, reduced graph matrix, structure synthesis

Cite: Mohamed Aly Abdel Kader and Abdeslam Aannaque, "Identification of Isomorphism in Kinematic Chains by Using the Reduced Graph Matrix," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 4, pp. 239-248, July 2023. 

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.