The basic configuration of planar 3Degree of freedom (DOF) kinematic chains and its application were studied. Taking graph theory as a mathematical model

all possible basic configurations of planar 3DOF kinematic chains were derived. The constrained condition is that three drive elements should be fixed on the frame at the same time to decrease inertia. Five kinds of applied basic configuration of planar 3DOF mechanisms were obtained. Structure characteristics and application status were analyzed

and potential application prospects for their basic configurations were presented.