A new method for the representation of the kinematic structure of mechanisms has been proposed. This scheme is an order-of-magnitude faster in enumerating mechanisms than the conventional characteristic-polynomial approach. Moreover, unlike the traditional approach, it never fails to identify a mechanism and all structural information relating to the mechanism can be retrieved from this representation. Classification of mechanisms based on structural characteristics is built-in as well. Using this method, the graphs of approximately one million kinematic chains have been generated and stored in a computer.

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