“…In third step, geared graphs are detected from parent graphs and spanning trees. The rooted graph of an N-link, F-DOF PGT comprises (π + 1) vertices and (2 π β πΉ β 1) edges; hence, the number of independent loops can be obtained from πΏ = π β π£ + 1 [25][26][27][28]. The link assortment arrays of a spanning tree and a parent graph are expressed as [π 1 , π 2 , π 3 , β¦ , π π ] and [π 2 , π 3 , β¦ , π π ] , respectively.…”