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A New Method Based on Kinematics of Robots to Analyze the Kinematics of Persian Joint

A New Method Based on Kinematics of Robots to Analyze the Kinematics of Persian Joint
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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.
出处 《Journal of Environmental Science and Engineering(B)》 2014年第1期55-59,共5页 环境科学与工程(B)
关键词 lnverse kinematic problem Persian joint constant-velocity joint. 机器人运动学 波斯 输入轴 旋转矩阵 联合设计 角位移 输出轴 实际值
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