Linkage characteristic polynomials: Definitions, coefficients by inspection

H. S. Yan, A. S. Hall

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


A linkage characteristic polynomial is defined as the characteristic polynomial of the adjacency matrix of the kinematic graph of the kinematic chain. Some terminology and definitions, needed for discussions to follow in a companion paper, are stated. A rule from which all coefficients of the characteristic polynomial of a kinematic chain can be identified by inspection, based on the interpretation of a graph determinant, is derived and presented. This inspection rule interprets the topological meanings behind each characteristic coefficient, and might have some interesting possible uses in studies of the structural analysis and synthesis of kinematic chains.

Original languageEnglish
Pages (from-to)578-584
Number of pages7
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number3
Publication statusPublished - 1981 Jul

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


Dive into the research topics of 'Linkage characteristic polynomials: Definitions, coefficients by inspection'. Together they form a unique fingerprint.

Cite this