• Dr. Ali Hasa

This study checks the isomorphism among 10 Links, 13 Joints, Single degree of freedom Kinematic Chains of Group IV-D,E and F using a Joint-Joint [JJ] matrix method. Two identification numbers or structural invariants namely ‘sum of the absolute values of the characteristic polynomial coefficients’ [SCPC] and ‘maximum absolute value of the characteristic polynomial coefficient’ [MCPC] are applied for each matrix with the help of MATLAB to check isomorphism in the mechanism kinematic chains. The study is helpful for new researchers / design engineers and scientist in selecting the best kinematic chain to perform the predecided task at the conceptual stage of design. The study is explained with the help of examples of planar kinematic chain having simple joints.

Mechanisms, Kinematic Chains; Isomorphism; Degree of Freedom.

"Mechanisms Design Using Kinematic Chains of Group-IV-D, E and F", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.8, Issue 3, page no.73-76, March-2021, Available :http://www.jetir.org/papers/JETIREN06016.pdf

"Mechanisms Design Using Kinematic Chains of Group-IV-D, E and F", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.8, Issue 3, page no. pp73-76, March-2021, Available at : http://www.jetir.org/papers/JETIREN06016.pdf