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calvinmorrison
on Dec 28, 2022
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Active ball joint mechanism with 3 DoF based on sp...
and here's a very similar article from 2008..
"A new kind of spherical gear and its application in a robot's wrist joint"
addaon
on Dec 28, 2022
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This 2008 paper seems to describe the mechanical and manufacturing side of a 2DOF spherical joint, not a fully-realized actuated 3DOF spherical joint.
jacquesm
on Dec 28, 2022
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It's not even close.
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"A new kind of spherical gear and its application in a robot's wrist joint"