A genetic algorithm for testing isomorphism among kinematic chains and to select the best frame and input links is presented. The computational effort involved is minimum and the method is unique as it satisfies both the necessary and sufficient requirements. Fitness of a binary string corresponding to a link is indicative of its design parameters. Consequently the fitness of a chain indicates the number of design parameters active in motion generation. Chains are compared for function generation on the basis of the ‘fitness’ of first generation and second generation ‘fitness,’ etc., in that order. [S1050-0472(00)00801-1]
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A.C. Rao (2000) studied this question.
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