Topological structural synthesis of planar multiple joint and geared-linkage kinematic chains which can provide various comparable schemes for innovative mechanism designs; it is an effective method to researching the structure composition of mechanisms. Multicolor topological graph descriptions and structural automatic synthesis of planar multiple joint and geared-linkage kinematic chains based on single-open-chains adding method is discussed. Multicolor topological graphs of planar multiple joint and a geared-linkage kinematic chain are discussed in detail, which provide good mathematical tool for mechanism structure analysis and synthesis. With the help of multicolor topological graphs, planar multiple joint and geared-linkage kinematic chains with specified input parameters can be automatically synthesized in batch by the single-open-chains adding method. Finally, the comprehensive examples are given to verify the validity and reliability of the automatic synthesis method.