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並前往https://journals.sagepub.com/doi/10.1177/027836498600500208

Robotic Bevel-gear Differential Train - F.L. Litvin, Zhang Yi, 1986

Freudenstein, F., Longman, R.W., and Chen, C.K. 1985. Kinematic analysis of robotic bevel-gear trains J. Mechanisms, Transmissions and Automation in Design.

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