DOI: 10.1115/1.4011045 ISSN:
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
J. Denavit, R. S. Hartenberg- Mechanical Engineering
- Mechanics of Materials
- Condensed Matter Physics
Abstract
A symbolic notation devised by Reuleaux to describe mechanisms did not recognize the necessary number of variables needed for complete description. A reconsideration of the problem leads to a symbolic notation which permits the complete description of the kinematic properties of all lower-pair mechanisms by means of equations. The symbolic notation also yields a method for studying lower-pair mechanisms by means of matrix algebra; two examples of application to space mechanisms are given.