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Reviewers' comments:

Reviewer #1: This reviewer congratulates the authors for the newest effort in the kinematic analysis of complex planar linkages.  The idea was based on BKC (basic kinematic chain) developed by Prof. T. L. Yang and his associates.  It offers a method for BKC type identification and then a numerical method for the kinematic analysis.  They are capable of treating up to 12 links.   They are able to find all possible BKC configurations.  The following references are suggested, which address the issue of complex linkage configuration "recognition", i.e. motion continuity and smoothness among possible configurations.

Ting, K. L., C. Xue, J. Wang, K. Currie, "Full Rotatability and Singularity of Six-Bar and Geared Five-Bar Linkages," Journal of Mechanisms and Robotics 2, no. 1, pp. 011011-1~9, March 2010

J. Wang, Ting, K. L., C. Xue, "Discriminant method for the mobility identification of Single Degree-of-freedom double-loop Linkages," Mechanism and Machine Theory, Volume 45, Issue 5,  Pages 740-755, May 2010

Wang, J. and Ting, K. L. Mobility Identification of a Group of Single Degree-of-freedom Eight-bar Linkages, Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference,DETC2010-28961

Publication is recommended.


Reviewer #2: This paper presents a general method for the kinematic configuration analysis to planar closed kinematic chains with R-pairs. This is an interesting topic and examples show that this method is simple, efficient and reliable. So the reviewer tend to recommond the paper be accepted by the journal after a good proofread of the whole manuscrip.

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