Spherical gears for ABENICS mechanism

I replicated the gears for the ABENICS active ball joint mechanism, which uses a spherical gear meshing with two monopole gears. The spherical gear has 32 teeth, while each monopole gear has 16 teeth, with a module of 2 for all gears.

This mechanism is particularly intriguing, and I believe the best way to fully understand its principles is by working with a physical model.

References:

• Article: DOI - 10.1109/TRO.2021.3070124
• Video: Watch here

Note: To simplify 3D printing, the spherical gear is split into 2 parts that are assembled using three pins.