Mechanically constrained single-loop 6-bar chain from double 6R chain

This method is used for parallel robot placements mechanically determined by a 6-bar loop chain or two 3-bar chains. The two circuits act as a mechanical barrier for the final transmission operator. A structural code for searching for isomorphic maps was proposed as an alternative method. As a result, this number generates 32 different types of non-isomorphic maps. This map depicts all degrees of freedom with eight-bar settings. After inversion, relationship graphs for all outcomes may be generated.