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Spherical gears for ABENICS mechanism
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Gears of the ABENICS mechanism
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Model information
- Source
- Printables
- Category
- RC & Robotics
- License
- Creative Commons — Attribution
Description
I replicated the gears for the ABENICS active ball joint mechanism, which uses a spherical gear meshing with two monopole gears. The spherical gear has 32 teeth, while each monopole gear has 16 teeth, with a module of 2 for all gears.
This mechanism is particularly intriguing, and I believe the best way to fully understand its principles is by working with a physical model.
References:
- Article: DOI - 10.1109/TRO.2021.3070124
- Video: Watch here
Note: To simplify 3D printing, the spherical gear is split into 2 parts that are assembled using three pins.