The monolithic design of serial robot arms has become widely accepted in industrial applications. One might note that these manipulators are designed in such a way that they can implement as many applications as possible at the same time and therefore do usually not have an application-specific structure. In this article we describe the construction and modeling of a kinematic chain in which a mechanical modification is possible. As a result, the structure of a serial robot can be adapted in a wide range. For this purpose, the links of the kinematic chain are modified in such a way that the robot structure matches the desired Denavit-Hartenberg parameter set. This means also that optimizations with different kinematic goals can be realized in order to flexibly adapt the robot system to a current task.
