A computer-aided method, based on the concept of distance, has been developed for identifying planar kinematic chains with fractionated freedom. Algorithms have also been developed for detecting the presence of any k-bar independent loop, and any f-degree-of-freedom sub-chain in a multi-degree-of-freedom planar kinematic chain, leading to the characterization of partial freedom of two- and three-degree-of-freedom kinematic chains.

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