Strangest Gearing System!? - ABENICS Spherical Drive

From Yamagata University, the gear-based joint drives three rotational degrees of freedom without slippage. The capabilities were inspired by the unique interactions between two different innovative gears [the cross spherical gear and monopole gear and the superimposition of those interactions by the CS-gear’s quadrature spherical tooth structure. One MP-gear constrains two of the three RDoF of the CS-gear.