Mechanism for active Π-joint as an equivalent to the combination of revolute joint and proximal fixed-length link

Dragan S. Milutinovic*, Ryuta Sato, Daisuke Matsuura, Kornel Ehmann

*Corresponding author for this work

Research output: Contribution to journalArticle

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 languageEnglish (US)
Pages (from-to)179-187
Number of pages9
JournalRobotics and Computer-Integrated Manufacturing
Volume37
DOIs
StatePublished - Feb 1 2016

Keywords

  • Modeling
  • Parallel mechanism
  • Parallelogram linkage
  • Π-joint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Mechanism for active Π-joint as an equivalent to the combination of revolute joint and proximal fixed-length link'. Together they form a unique fingerprint.

  • Cite this