Theory of loop algebra on multi-loop kinematic chains and its application (Q2460315)

This paper deals with the mathematical representation and the algebra rules for the ``\(\oplus\)'' operation of the loops of kinematic chains. According to the characteristics of loops of kinematic chains, the algorithm to obtain loops through operation of the basic loops and the ``\(\oplus\)'' operation existent conditions is given. The authors adresses how to obtain the essential perimeter loops through the algebra operation of the basic loops, and further to obtain the characteristic perimeter topological graph and characteristic adjacency matrix. The advantage of the presented theory is that both the characteristic perimeter topological graph and the characteristic adjacency matrix are unique and they have one-to-one correspondence relationship with the kinematic chain. The characteristic representation of topological graphs and digitalization also provide a mathematical foundation for the establishment of the atlas database of kinematic chains.