Structural synthesis of planar kinematic chains by adapting a Mckay-type algorithm

Synthesis of kinematic chains can be viewed as the enumeration of a certain class of graphs. Very efficient algorithms, using group theoretic techniques, exist for exhaustive isomorph-free generation of certain classes of combinatorial objects, which either eliminate or restrict the explicit isomorphism detection. An algorithm belonging to one particular class called McKay-type, in combination with an efficient degeneracy testing algorithm, is used for the synthesis of planar mechanisms. The existing results are reexamined and the discrepancies are reconciled.