In order to achieve the chirality-specific growth of single-walled carbon nanotubes (SWCNTs), it is crucial to understand the growth mechanism. Even though many molecular dynamics (MD) simulations have been employed to analyze the SWCNT growth mechanism, it has been difficult to discuss the chirality determining kinetics because of the defects remaining on the SWCNTs grown in simulations. In this study, we demonstrate MD simulations of defect-free SWCNTs, that is, chirality definable SWCNTs, under the optimized carbon supply rate and temperature. The chiralities of the SWCNTs were assigned as (14,1), (15,2), and (9,0), indicating the preference of near-zigzag and pure-zigzag SWCNTs. The SWCNTs contained at least one complete row of defect-free walls consisting of only hexagons. The near-zigzag SWCNTs grew via a kink-running process, in which bond formation between a carbon atom at a kink and a neighboring carbon chain led to formation of a hexagon with a new kink at the SWCNT edge. Defects including pentagons and heptagons were sometimes formed but effectively healed into hexagons on metal surfaces. The pure-zigzag SWCNTs grew by the kink-running and the hexagon nucleation processes. In addition, chirality change events along SWCNTs with incorporation of pentagon-heptagon pair defects were observed in the MD simulations. Here, pentagons and heptagons were frequently observed as adjacent pairs, resulting in ( n, m) chirality changes by (±1,0), (0,±1), (1,-1), or (-1,1).