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June 1, 1955Journal of Applied Mechanics

A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices

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Authors

JDJ. DenavitRHR. S. Hartenberg

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Denavit et al. (1955) studied this question.

synapsesocial.com/papers/69d76d44f07a12db70b8aed9https://doi.org/10.1115/1.4011045
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