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/Western-Digital-Ultrastar-DC-HC530-WUH721414ALE6L1-0F31170-14TB-7-2K-RPM-SATA-6Gb-s-512e-SED-3-5in-Hard-Drive/