We extend the traditional method by replacing a low pair with a higher pair,and the use of the method can produce all possible structural types of a planar kinematic chain with multiple joints and higher pairs in accordance with the adjacent matrix of the kinematic chain of a planar link.

This paper presents an adjacency matrix method for identifying topological symmetry to planar kinematic chains with multiple joints.

This paper presented a classification method to planar kinematic chains with multiple joints and higher pairs based on structural characteristics.

Expanding application of theory of plane motion of rigid body;

Exploitation and application of experimental platform in plane motion;

Deduction of instant center acceleration of rigid body in plane motion;