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Sketching of mechanisms identified during the type synthesis process constitutes an important link with the subsequent dimensional synthesis process in the systematic design of mechanisms. Based on the independent loops, a simple and comprehensive method for automatically sketching every type of kinematic chain regardless of the number of links and degrees of freedom is proposed. In the method, a maximal feasible outer-loop is derived by the independent loops addition or subtraction such that all the independent loops become its non-crossing inner loops. During automatic sketching of mechanisms process, the joints of kinematic chain are located on vertices of concentric inscribed regular polygon by outer lane to inner lane in terms of the outer loop and the inner loops. The development and application of this algorithm based on the outer loop and the inner loops relationships are demonstrated with the aid of several mechanism examples.

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