A gear is used not only for power transmission but also in precision positioning. A conventional and general gear has only one degree of freedom motion. Therefore, the case of its use is limited. In this paper, we propose and manufacture an innovative spherical gear. The proposed spherical gear has a multiple degrees of freedom motion. Compared with other spherical gear, the proposed spherical gear does not have complex shape. Moreover, the handle of the proposed spherical gear is similar to that of a spur gear. The experimental apparatus using the spherical gear pair measures a transmission efficiency and an angular backlash between the gears. According to experimental results, the spherical gear teeth could mesh firmly and transmit power at any shaft angle. In addition, the maximum transmission efficiency and the angular backlash become about 87.1% and 16.9 mrad when the shaft angle is 0°, respectively.

齿轮不仅用于动力传输，还用于精密定位。传统的和通用的齿轮只有一个自由度运动。因此，其使用的情况是有限的。在本文中，我们提出并制造了一种创新的球面齿轮。所提出的球面齿轮具有多个自由度运动。与其他球面齿轮相比，所提出的球面齿轮没有复杂的形状。此外，所提出的球形齿轮的手柄类似于正齿轮的手柄。使用球面齿轮副的实验装置测量齿轮之间的传动效率和角间隙。根据实验结果，球面轮齿在任何轴角都能牢固啮合并传递动力。此外，最大传动效率和角背隙约为 87。