Joint e.g. fixed joint, has inner ball trajectories, and outer ball trajectories, where active sections of trajectories are coordinated such that control angle is constant between stretched state of joint and maximum bent state of joint

摘要

The joint has inner ball trajectories (11), where active sections (12) of the inner ball trajectories are provided with a curvature changing continuously along an assigned longitudinal axis. A set of outer ball trajectories (21) is provided with active sections (22) comprising a curvature that changes along the assigned longitudinal axis. The curvatures of the active sections of the inner and outer ball trajectories are designed and coordinated such that a control angle is constant between stretched state of the joint and a maximum bent state of the joint.