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Angular Transmission 4R Mechanism 2

Two spherical 4R mechanisms are connected back to back.

4R: 4 revolute joints.

In each mechanism the center lines of 4 revolute joints intersect at a common point.

The angle between center lines of revolute joints for the orange link is not 90 deg. (rather than Cardan joints).

Angle between the input and output is A = 90 deg.

Angle between cylinder of the orange link and the input shaft is B = A/2 = 45 deg. This condition makes the mechanism a constant-velocity joint.

The orange link rotates without fixed bearing.

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