1955•Journal of Applied MechanicsRequires access

A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices

J. Denavit, R. S. Hartenberg

Abstract

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.

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Key concepts: Notation, Kinematics, Mathematical notation, Algebra over a field, Symbolic computation, Matrix (chemical analysis), Space (punctuation), Mathematics