Abstract
The Pa or ?-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) ?-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 ?-joint laboratory prototype. We propose a parallelogram-based 1-DOF complex mechanism for active ? -joint.We describe its structure, advantages and applicability in parallel machines.We present analysis-oriented modeling approach.We develop and investigate initial laboratory prototype.
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