A new kind of spherical gear and its application in a robot's wrist joint

The meshing principles and the manufacturing methods for spherical gears with concave cone surface teeth are presented in this paper. The profile of the convex teeth of this kind of gear is analyzed and calculated. The theoretical feasibility of this kind of gear is proven by the analysis of the profile, contact ratios and undercut. It makes the process of manufacturing easier than before, improving the manufacturing precision and simplifying the manufacturing process. This paper introduces the theory and manufacturing method of concave tooth profile, that is spherical cone gearing. The analysis and calculations on the convex tooth profile engaging with the concave cone tooth is also proved.