RESEARCH PAPERS: Mechanisms Papers

A Generalized Symbolic Notation for Mechanisms

[+] Author and Article Information
P. N. Sheth, J. J. Uicker

Department of Mechanical Engineering, The University of Wisconsin, Madison, Wis.

J. Eng. Ind 93(1), 102-112 (Feb 01, 1971) (11 pages) doi:10.1115/1.3427855 History: Received July 13, 1970; Online July 15, 2010


Revisions of the Denavit-Hartenberg symbolic notation are proposed which extend its use to the entire domain of rigid link mechanisms. The extended notation provides a clear separation of the pair variables and the invariant parameters of a mechanism and thus provides a framework in which higher pairs can be systematically modeled. The new symbolism can be used directly with the existing matrix methods of kinematic analysis, and a numerical scheme is presented to reduce the task of data collection for these methods.

Copyright © 1971 by ASME
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