Abstract: The basic method of structural type optimization for kinematic synthesis of planar linkage with all joint is presented. A programming method is established for automatically forming kinematic equations of planar linkage with all joint by computer. According to the adjacent matrix of kinematic chain, the breadth-first-search spanning tree can be obtained. Further, the basic loops can be determined. And the linkage’s kinematic equations of position angle, angular velocity and angular acceleration can be formed by using computer. So, by using numerical mechanism, the kinematic analysis of planar linkage gets in touch with the topological structure relation of kinematic chain. On the basis of this method, the programming method of automatically forming triangle restriction between bars by using computer is given, and the basic idea and algorithm of planar linkage’s structural type optimization are presented.

Key words: Adjacent matrix, Basic loop, Kinematic synthesis, Planar linkage with all joint, Structural type optimization