I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes?
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Use RoboAnalyzer. It will help you understand what you need.
Many kinematics software packages let you easily specify the robot dimensions in an xml format. You describe the translations and rotations between joints in vectors, quaternions, rotation matrices, etc. and not in DH parameters. For example: OpenRave XML format, and ROS MoveIt! URDF format.