A PSEUDO PROBABILISTIC APPROACH TO TO DETECT DISTINCT INVERSIONS OF KINEMATIC CHAINS

Isomorphism in kinematic chains has been the subject of intensive investigations, but the detection of distinct inversions has received lesser attention. The methods to detect distinct mechanisms reported to-date require extra or separate computational efforts. The method presented saves both computational effort and time. Moreover, it incorporates more information on the type, number and disposition of the links of kinematic chains and is computationaly easier. A pseudo probability scheme (pseudo means it appears to be , but not exactly) is developed to uniquely represent the kinematic chain and the same is used directly to detect distinct inversions of the kinematic chain. The capability of the method has been illustrated by applying it to detect distinct inversions of kinematic chains with simple as well as multiple joints, the latter being a less explored area so far. The method is applied to linkage (kinematic chains with lower pairs) mechanisms with revolute joints only.