Abstract
The coupling of rigid bodies constitutes a kinematic chain, each of its bodies thus being referred to as a link of the chain. If every link of a kinematic chain is coupled to at least two other links, the chain is said to be closed. If some links of the chain, however, are coupled to only one link, the chain is open. A given kinematic chain, though open, may contain a subset of links that constitute a closed kinematic subchain, which is referred to as a loop. Whether closed or open, kinematic chains can contain one or multiple loops, thus being referred to as single-loop or multiple-loop kinematic chains. Of course, an open kinematic chain may contain no loop.
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