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Structural synthesis of kinematic chains is one of the most important and challenging mathematical problems in the field of conceptual design stage of mechanisms. In this article, an automatic topological structural synthesis algorithm has been proposed for planar simple joint kinematic chains. At first, the planar simple joint kinematic chains can be represented by single-color topological graph and corresponding link-joint incident matrix. Then, the corresponding incident matrices of planar simple joint kinematic chains with special input parameters can be formed with the single kinematic chain adding method with the help of isomorphic identification. Finally, based on the procedure for the single-color topological graph automatic drawing, an automatic topological structural synthesis algorithm of planar simple joint kinematic chains with specified degree of freedom F and number of links n can be synthesized in batch, while there are several examples to show the effectiveness of this method.