The specialization of mechanisms

A methodology is presented, based on combinatorial theory, for complete enumerating non-isomorphic specialized mechanisms precisely from a specified kinematic chain. An algorithm for finding the defined permutation groups of kinematic chain from its labelled link adjacency matrix is developed. According to these permutation groups, another algorithm for generating all non-isomorphic specialized mechanisms by assigning various types to the links and joints of the kinematic chain is proposed. Finally, based on Polya's theory, we derived mathematical expressions for counting the number of the specialized mechanisms. The results of this work are beneficial to the automation of the creative design of mechanisms.