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This study performed a theoretical derivation and workspace analysis of a class of axial offset joints. First, a theoretical parametric model describing the rotation range of the offset joint is established that considers the interference of the offset joint because of the contact between the upper- and lower-joint brackets during movement. Second, the analytical expressions of the offset-joint workspace are formulated based on the coordinate system transformation. The offset-joint workspace is theoretically calculated in this study using formulations. Then, through a comparative analysis, the superiority of the offset joint compared with the universal joint is verified. The theoretical formulations in this paper can be used to calculate the workspace of a class of axial offset joints. Finally, based on a workspace analysis of three types of PMs using offset, universal, and spherical joints, the offset-joint PM workspace is much larger than those of the other two types.<\/jats:p>","DOI":"10.1017\/s0263574723000784","type":"journal-article","created":{"date-parts":[[2023,6,23]],"date-time":"2023-06-23T20:46:06Z","timestamp":1687553166000},"page":"2882-2906","source":"Crossref","is-referenced-by-count":5,"title":["Workspace analysis of axial offset joint based on parameterization"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2373-9724","authenticated-orcid":false,"given":"Peiyi","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hasiaoqier","family":"Han","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunlong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Biao","family":"Ren","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingwen","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenbang","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,6,23]]},"reference":[{"key":"S0263574723000784_ref2","doi-asserted-by":"publisher","DOI":"10.5772\/50904"},{"key":"S0263574723000784_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00324-X"},{"key":"S0263574723000784_ref3","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMM.752-753.973"},{"key":"S0263574723000784_ref10","doi-asserted-by":"publisher","DOI":"10.1117\/12.858156"},{"key":"S0263574723000784_ref12","doi-asserted-by":"publisher","DOI":"10.3390\/app11146268"},{"key":"S0263574723000784_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0954406218817001"},{"key":"S0263574723000784_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0954406211411249"},{"key":"S0263574723000784_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/BF01254849"},{"key":"S0263574723000784_ref11","doi-asserted-by":"crossref","first-page":"e2289","DOI":"10.1002\/rcs.2289","article-title":"A robotized handheld smart tool for orthopedic surgery","volume":"17","author":"Hung","year":"2021","journal-title":"Int. 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