Isomorphism Identification of Planar Multiple Joint Kinematic Chains by Circuit Analysis Method

摘要

In this paper, isomorphism identification algorithm of planar multiple joint kinematic chains by circuit analysis method has been presented. Firstly, topological model is introduced. Then, corresponding equivalent circuit model is established to obtain node voltage sequence; By the solved node voltage sequence, an algorithm to identify isomorphic kinematic is obtained. Lastly, examples are carried out to show this useful method.