Involute spherical gear mechanism′s modeling and kinetics simulation;

The essence of the spherical gear mechanism is version of universal joint, it has two degree of freedom and it can be used to deliver 2D motion.

Spherical gear is a gear-driven mechanism with a double degree of freedom,which can be used for a satellite borne antenna attitude adjustment mechanism with characteristics of compact structure,big carrying capacity,and assembly error of effecting on directing precision of spherical gear pointing mechanism.

The traditional theory of involute gear transmission considers that the tooth profiles of gear mechanism are uniformly wore along tooth surface during the operating, and the worn tooth profiles can still keep the original involute shape.

The CAI software presented in this paper,which is composed of a lot of slides deding with teaching contents on four bars mechanism,cam mechanism and gear mechanism was constructed with PowerPiont97 software.

lt is incomplete to caculate the freedom of plane gear mechanism regarding gearpair as higher pair.

Even if the input torque of an involute gearing keeps constant, the output torque of its driven gear surely fluctuates to a certain extent due to the existence of the sliding friction between teeth.

The classical involute gearing theory, which omits the effect of sliding frictions between teeth and between bearings and journals, thinks that if the input torque of the gearing is kept constant the gears do not vibrate .