3. Joint statics

Applying the virtual displacement theorem, we can write : $\frac{C_2}{C_1}=\frac{{\omega }_{10}}{{\omega }_{20}}$

C ₁ and C ₂ being the values of the input and output torques respectively.

For C ₁ given and this twice per round:

• C ₂ is maximal, i.e. equal to C ₁ /cos α, for θ ₁ = k π ;...