Abstract
A symbolic representation of position, velocity, and acceleration of any link with respect to another in multilink mechanisms is presented. This representation does away with cumbersome matrix multiplications. Each link may vary in length as well as in orientation. The representation is based on a symbolic representation of the Denavit-Hartenberg 4x4 matrix and its first and second time derivatives. The new representation can be viewed as an extension of the Piogram symbolic representation of coordinate transformation. As with Piograms, once the user masters the new technique, it becomes an easy and powerful tool for obtaining the analytic expressions describing position, velocity, and acceleration in multilink mechanisms.
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