根据提出的约束条件，采取逐级构造杆组邻接矩阵方法，求解杆组间的可行连接方式，并同步辨识同构体，从而获取全R副杆组间的连接关系的杆组邻接矩阵。

The connection forms of all R joints of the Assur groups in the assembly forms are permutated step by step following the proposed connection constrains and isomorphism is detected in the process.

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