Abstract
The Pa or Π-joint, as a planar parallelogram four-bar linkage, is of particular interest and importance for parallel kinematic mechanisms. With the idea of replacing the combination of an active revolute joint and of a proximal fixed-length link with an active (powered and controlled) Π-joint, a new parallelogram-based one-degree-of-freedom (1-DOF) mechanism has been developed. The paper describes the structure of the mechanism, modeling approach and analysis as well as the developed active Π-joint laboratory prototype.
Original language | English (US) |
---|---|
Pages (from-to) | 179-187 |
Number of pages | 9 |
Journal | Robotics and Computer-Integrated Manufacturing |
Volume | 37 |
DOIs | |
State | Published - Feb 1 2016 |
Funding
The authors would like to thank the Ministry of Education, Science and Technological Development for providing support that made this work possible.
Keywords
- Modeling
- Parallel mechanism
- Parallelogram linkage
- Π-joint
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- General Mathematics
- Computer Science Applications
- Industrial and Manufacturing Engineering