The field of robotics has been a remarkable human invention in the past century. With advancements in science and technology, industries worldwide are striving to enhance and produce cutting-edge robot designs capable of operating at high frequencies, while optimizing cost and efficiency to replace human labor across various domains. This article proposes a novel robot structure based on the theory of finite symmetry groups, aiming to systematically and comprehensively enumerate all closed planar kinematic chains with n links and F degrees of freedom. Initially, a configuration with one degree of freedom and eight links is selected. Then, the study proceeds to establish a set of link parameters by considering the maximum number of links, binary link properties, and the combination of odd numbers of links within the closed kinematic chain. Theoutcomes demonstrate the development of 16 new robot structures that successfully fulfill the criteria of being both planar and closed chains. These research findings hold practical significance in the realm of designing innovative robot structures that meet production demands, while simultaneously facilitating automation and enhancing overall production efficiency.