This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles. The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori. Two structural sets. the C-boundaries and the C-obstacles. https://www.roneverhart.com/Toshiba-AL13SX-AL13SXB30EN-300GB-15K-RPM-SAS-12Gb-s-512n-128MB-2-5-Hard-Drive/