Abstract: Automated kinematic synthesis is still a raw material and researchers have to research more in this critical stage of the design process. Graph theory intensively has used in this field of science but in this study, it has been used in a very different way to present a new, simple, abstract and automated method to construct optimum kinematic synthesis for a robot. The new presented method is intended for robot manipulator with revolute joints and it is based on the heuristic graph formation principle. In this research, ant colony optimization algorithm and graph theory toolbox have introduced as tools to improve the heuristic path or graph before mapping to the equivalent kinematic synthesis of the robot. Two practical examples were presented to prove the efficiency of the new method.