Static Analysis of Spatial 7R Link Constant-Velocity Joints Extended Shaft Angle

The spatial 7R link constant-velocity joint is obtained when some of kinematic constants of spatial 7R 7-1ink mechanism are given suitably. This joint can transmit a rotational motion and a tor(tue with constant velocity between two intersecting shafts. It was verified experimentally that the shaft angle could be vary in the region of ±60°. The shaft angle limits the arrangement of rotating shafts which are used in several industrial equipments. If the shaft angle of the spatial 7R link constant-velocity joint is extended, this type of constant-velocity joint can be applied to the indirect driven type of articulated manipulator, for example. In this paper, it is investigated that the method of design of the spatial 7R link constant-velocity joint to actualize the constant-velocity joint which can transmit a rotational motion between two intersecting shafts at an angle of 90°. And when the shaft angle is greater, there is a fear that the motion transmissibility of constant-velocity joints become worse. So the motion transmissibility is examined by measuring the input torque of the constant-velocity joint. Also, it is examined that modifying the spatial 7R link constant-velocity joint to the multi-loop type is effective measure against increasing the output angle errors.