This paper proposes a new notation for kinematic structures, which allows a unified description of serial, parallel as well as hybrid robots. To describe serial robots the DH-Parameters became very popular. Till now such a common notation for parallel manipulators has not been accepted. In parallel robots spherical and cardan joints are high frequently used. For describing these kinds of joints, the well-known DH-Parameters have been extended, such that to each joint as many joint variables can be assigned as degrees of freedom exist. A new unique notation is proposed, which is based on graph representation known from gear trains. This notation can be applied as a convention to refer to serial, parallel, and hybrid kinematic structures elsewhere.
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