Abstract: By applying gragh theory and defining a new concept termed generalized kinematic chain, a systematic and symbolic method for formulating the kinematic and kinetostetle equations of planar linkages has been developed in terms of topological matrix notations in this paper. A significant theorem, Identity Theorem by name, has been brought to light, which bridges the gap between these two apparently unconnected mathematical models. An insightful explanation has also been made using virtual work principle for a better understanding of the theorem.

Key words: 动力学, 分析, 连杆机构