The Burmester curve plays an important role in rigid-body guidance of four-bar linkage, but it still had serious blindness because two center points or circle points should be assigned arbitrary. So a method of Type Map for rigid-body guidance was proposed in this paper. All the four-bar linkages synthesized by burmester curve can be classified in accordance to their attributes. Using this method, satisfactory four-bar linkages can be obtained quickly for the given four rigid-body positions. An algorithm was proposed to define the discrimination of the Type Map in depth. Based on the platform of Matlab, a program was developed to realize the automatic design and visualize the guidance synthesis for four-bar linkage. The result proved the method to be feasible and effective.