This paper presents for the first time a method for the automatic generation of independent and peripheral loops of planar kinematic chains. In order to implement this method, three laws are considered and some new concepts, for instance same-position link, similar loop, loop-link vector and loop-joint vector, are defined. By using structural matrices of planar kinematic chains, independent loops are generated in the order from those with small length to those with large length. Next, one peripheral loop with the maximum length is generated. Finally a loop-link matrix and a loop-joint matrix are obtained to express all independent loops and the peripheral loop in a planar kinematic chain.
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