Identification of Isomorphism and Structural Properties of Kinematic chains with the help of Adjacency matrices

A method based on the adjacency matrices of kinematic chains is presented in this paper to identified isom-orphism, among kinematic chains and among inversions of given kinematic chain and for identification of structural properties of kinematic chain as degeneration identif-ication, identification of type of freedom. The advantage of this method is that it covers all planar kinematic chains of one, two and three degree of freedom at once for identification of Isomorphism and for structural proper-ties over all previous important methods.