抄録
Such a mechanism that the elements are bilaterally symmetrical with respect to the bisecting plane of driving and driven rotational axes is able to use as the constant velocity joint. The constant velocity joint that is composed of two circular-arc-contacting elements and the frame is most elementary one. The Rzeppa constant velocity joint is composed of several sets of the ball and two circular-arc grooves. The relative motion of the ball to each of two circular-arc grooves and the input-output relationship may be simulated by the circular-arc-bar constant velocity joint. The closed loop equation of the circular-arc-bar joint is given with any values of kinematic constants is deduced the quadratic equation. Sensitivities of linearity between input and output angles for errors of kinematic constants are calculated.
