ABENICS Active Ball Joint Mechanism with three DoF based on spherical gear meshings

0:00 introduction 0:50 Graphical explanation of the mechanism 2:45 Components of the manufactured prototype 3:40 Motions os prototypes 4:20 Motions of prototypes with output link 5:05 Behavior of the Monopole Gear in the vicinity of the pole 5:25 Motions with extended output link and weight [video provided by IEEE - credits: Kazuki Abe / Kenjiro Tadakuma / Riichiro Tadakuma] read more here: ( published under a Creative Commons License : )