Because of using involute spherical gear double degree of freedom of movement and force transmission characteristic

the involute spherical gear gimbal is widely used in the field of bionic

but the assembly error is an important factor affected the accuracy of its transmission.On the basis of the analysis of the spherical gear gimbal structure

installation

and kinematics analysis

spherical gear gimbal transmission error model is established.The influence of two key assembly errors which are axial deviation and center distance error on the transmission error of spherical gear gimbal are analyzed and calculated.The final research conclusion has a certain theoretical guidance for the actual installation and application of spherical gear.