Quasi-ellipsoidal gear drive used in the flexible joint of robot

A quasi-ellipsoidal gear drive is suitable for the precise flexible joint of robots, but the meshing problems of this transmission are rarely being considered in the related papers. Based on the two-parameter conjugate surface theory, this article studies the critical curves, the induction normal curvature and the short-rang torsion. The method of analysis is efficient for not only the quasi-ellipsoidal gear drive but also the other type of spatial gear drive.