摘要
This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as a robotic mechanism, and the methods and tools are applied to present the relationship of angular displacements of input shaft and output shaft. When the angle between intersecting shafts changes from 0 degree to 135 degrees, the results show that the velocities of input shaft and output shaft are almost the same with the actual values. This study provides a new method to investigate this mechanism in detail. The obtained results not only provide the sub-parameters （the displacement of guide arms and connecting arms）, but also help to have a deeper understanding about the operation of Persian joint in order to develop the design of Persian joint in the future.
