Development of a Standard Code for Colored Graphs and Its Application to Kinematic Chains

The development of an efficient solution procedure for the detection of isomorphism and canonical numbering of vertices of colored graphs is introduced. This computer-based algorithm for colored graphs is formed by extending the standard code approach developed earlier for the canonical numbering of simple noncolored graphs, which fully utilizes the capabilities of symmetry analysis of such noncolored graphs. Its application to various kinematic chains and mechanisms is investigated with the aid of examples. The method never failed to produce unique codes, and is also found to be robust and efficient. Using this method, every kinematic chain and mechanism, as well as path generators and function generators, will have their own unique codes and a corresponding canonical numbering of their respective links. Thus, based on its efficiency and applicability, this method can be used as a universal standard code for identifying isomorphisms, as well as for enumerating nonisomorphic kinematic chains and mechanisms.