A novel method for eliminating isomorphism identification is proposed to improve synthesis efficiency and synthesize planar nonfractionated kinematic chain (KCs) automatically. This method is based on the vertex insertion of contracted graphs. First, similar edges of contracted graphs are divided into groups, in which the similar edges are found and their characteristic matrices are calculated. The edge types are divided based on whether or not isomerism occurs after vertices are inserted. Then, the vertices are inserted into contracted graphs according to the edge condition. In this process, all isomerism caused by the location and number of inserted vertices is reserved, and the property change of similar edges is checked. Lastly, the rigid subchains of remaining isomerism are distinguished. Contracted graphs with four independent loops and some of their inserted vertices are presented in appendix. A complete set of nonfractionated KCs with up to seven independent loops and three degrees of freedom is also provided. The veracity and efficiency of the method are confirmed by conducting a comparative analysis between this synthesis and other literature results.

提出了一种消除同构识别的新方法，以提高合成效率并自动合成平面非分馏运动链（KCs）。该方法基于收缩图的顶点插入。首先，将收缩图的相似边分组，找出相似边并计算它们的特征矩阵。根据插入顶点后是否出现异构来划分边类型。然后，根据边缘条件将顶点插入到收缩图中。在这个过程中，保留了所有由插入顶点的位置和数量引起的异构，并检查了相似边的属性变化。最后，区分剩余异构的刚性子链。具有四个独立循环的收缩图及其一些插入的顶点在附录中给出。还提供了一套完整的非分割 KCs，具有多达七个独立的循环和三个自由度。通过对该合成与其他文献结果进行比较分析，证实了该方法的准确性和有效性。