Through the use of dual graphs, a powerful new representation of the kinematic structure of mechanisms has been developed. This permits the development of a highly efficient completely automatic procedure for the computer-generated enumeration of the kinematic structures of mechanisms. As an example, the kinematic structures of one, two and three-degree-of-freedom plane bar linkages with up to four independent loops have been enumerated on a personal computer.
An Application of Dual Graphs to the Automatic Generation of the Kinematic Structures of Mechanisms
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Sohn, W. J., and Freudenstein, F. (September 1, 1986). "An Application of Dual Graphs to the Automatic Generation of the Kinematic Structures of Mechanisms." ASME. J. Mech., Trans., and Automation. September 1986; 108(3): 392–398. https://doi.org/10.1115/1.3258745
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