Research on the structure and construction for planar kinematic chains

After the structure of planar kinematic chain was analyzed,the relationships about the number of links,pairs,and loops in a planar kinematic chain train and its construction are also researched.The basic type of the K-DOF planar kinematic chain and two different structures called two-links-and-three-pairs are presented.By the basic type of planar kinematic chains and the two different structures,the any complexes chains can be constructed.