Kinematic analysis of Persian joint using 3D rotation matrix, journal of environment science and engineering ,

This paper has been done on study kinematic problem of Persian joint in a general way. In this study, instead of using simulation analysis method as in the previous researches, the 3D rotation matrix method is applied to present the relationship of angular velocities of input shaft and output shaft. The result shows that when the angle between intersecting shafts changes from 0 to 135°, the angular velocity is maintained constant. This new result completely matches with analysis from kinematic simulation of this mechanism. The obtained result is an important base to solve dynamic problem in order to develop the applicability of this joint in reality.