Unified method for the number synthesis of planar kinematic chains

In this paper we propose a new method for the number synthesis of planar kinematic chains with simple and multiple joints in a unified algorithm. The fundamental concept of the algorithm is that a kinematic chain can be synthesized by adding a binary-link string to a closed subchain with fewer links. Some theorems are provided as the basis of the synthesis algorithm. According to the proposed algorithm, catalogues of planar kinematic chains with simple and multiple joints can be systematically generated.