Kinematic theory of spatial friction-wheel rotation converter

The present study discusses the kinematic theory of three-link spatial friction-wheel rotation converter. Analytical relations defining the device geometrical and kinematic characteristics, are found. These are geometry of the contacting working surfaces of the device mobile links, contact trajectory, function of the speed ratio, velocity of translation and helical parameter of motion of one of the device mobile links. The described kinematic theory is a basis of the mathematical model of synthesizing this class of transmissions.