# Symbolic Representaion of Links and Joints: How to sketch complex manipulators using simple symbols?

In some papers and books we can see that authors using symbols to represent robot arms. My question is, is there a convention for such sketches? If so could you provide a reference which shows how these symbols should be used?

• Yes, however, the from a schematic point of view, active or passive joints are not graphically distingushed (the just have a "$q_i$" written next to them sometimes) – 50k4 May 11 '17 at 14:28