Denavit J,Hartenberg R S,A kinematic notation for lower-pair mechanisms based on matrices,Journal of Applied Mechanics,Transactions of the ASME,1955(2).
[4]
Sheth Pn,Uicker Jr Jj,Generalized symbolic notation for mechanisms,ASME Journal of Engineering for Industry Series B,1971(1).
[5]
Hiller M,Woernle C,Unified representation of spatial displacements,Mechanism and Machine Theory,1984(6).
[6]
Martinez J R,Duffy J,Orthogonal space and screw system,Mechanism and Machine Theory,1992(4).
[7]
Benedict C E,Tesar D,Model formulation of complex mechanisms with multiple nputs:part I--geometry,ASME Journal of Mechanical Design,1978(4).
[8]
Aviles R,Goizalde Ajuria M B,Victoria H M,Procedure based on finite elements for the solution of nonlinear problems in the kinematic analysis of mechanisms,Finite Elements in Analysis and Design,1996(4).