Bellcrank Mechanism #lego #technic #legotechnic #mechanism #mechanical #diy #diyproject #mechanicalengineering #legofan #legotechnicmoc #satisfying #experiment | Bricks Master Builders

ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshing. The gear-based joint drives three rotational degrees of freedom (RDoF) without slippage. The capabilities were inspired by the unique interactions between two different innovative gears [the cross spherical gear (CS-gear) and monopole gear (MP-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. Th