Provided is a joint mechanism including two spur gears and; a support member that supports the two spur gears and so as to be rotatable about two joint shafts and that are disposed in a skew-lines positional relationship with a space between each other; and a rotational-force transmitting mechanism that transmits a rotational force between the spur gears and, wherein the rotational-force transmitting mechanism is provided with a transmission member formed of a rigid piece that is supported so as to be movable only in a direction parallel to a line of intersection between planes and that are respectively orthogonal to the two joint shafts and cam mechanisms or linkage mechanisms that are disposed between the transmission member and the two spur gears and, respectively, and that convert rotational motions of the spur gears and to a linear motion of the transmission member.

Provided is a joint mechanism including two spur gears and; a support member that supports the two spur gears and so as to be rotatable about two joint shafts and that are disposed in a skew-lines positional relationship with a space between each other; and a rotational-force transmitting mechanism that transmits a rotational force between the spur gears and, wherein the rotational-force transmitting mechanism is provided with a transmission member formed of a rigid piece that is supported so as to be movable only in a direction parallel to a line of intersection between planes and that are respectively orthogonal to the two joint shafts and cam mechanisms or linkage mechanisms that are disposed between the transmission member and the two spur gears and, respectively, and that convert rotational motions of the spur gears and to a linear motion of the transmission member.

A spherical surface link mechanism includes a proximal end link hub, a distal end link hub, a plurality of links, a plurality of intermediate link hubs, and a shaft member. Each of the plurality of links includes a first end link member, a second end link member, and an intermediate link member. The first end link member is coupled, at one end, to the proximal end link hub to be rotatable about a first rotation axis. The second end link member is coupled, at one end, to the distal end link hub to be rotatable about a second rotation axis. The intermediate link member is coupled, at one end, to the other end of the first end link member to be rotatable about a third rotation axis and is coupled to, at the other end, the other end of the second end link member to be rotatable about a fourth rotation axis.

A spherical surface link mechanism includes a proximal end link hub, a distal end link hub, a plurality of links, a plurality of intermediate link hubs, and a shaft member. Each of the plurality of links includes a first end link member, a second end link member, and an intermediate link member. The first end link member is coupled, at one end, to the proximal end link hub to be rotatable about a first rotation axis. The second end link member is coupled, at one end, to the distal end link hub to be rotatable about a second rotation axis. The intermediate link member is coupled, at one end, to the other end of the first end link member to be rotatable about a third rotation axis and is coupled to, at the other end, the other end of the second end link member to be rotatable about a fourth rotation axis.

Provided is an orthogonal-axis power transmission device. The orthogonal-axis power transmission device according to an embodiment of the present inventive concept includes: a main structure assembly forming an exterior structure and having a space portion formed therein, the space portion being sealed; an input shaft assembly connected to one side of the main structure assembly, and to which rotational power of a motor is input; an output shaft assembly connected to the other side of the main structure assembly intersecting the input shaft assembly, and from which the rotational power of the motor is output; and a link assembly for changing a power transmission direction arranged to operate in the space portion of the main structure assembly to prevent propagation of noise or vibration, connected to the input shaft assembly and the output shaft assembly within the main structure assembly by a link method, and changing the power transmission direction from the input shaft assembly to the output shaft assembly.

Provided is an orthogonal-axis power transmission device. The orthogonal-axis power transmission device according to an embodiment of the present inventive concept includes: a main structure assembly forming an exterior structure and having a space portion formed therein, the space portion being sealed; an input shaft assembly connected to one side of the main structure assembly, and to which rotational power of a motor is input; an output shaft assembly connected to the other side of the main structure assembly intersecting the input shaft assembly, and from which the rotational power of the motor is output; and a link assembly for changing a power transmission direction arranged to operate in the space portion of the main structure assembly to prevent propagation of noise or vibration, connected to the input shaft assembly and the output shaft assembly within the main structure assembly by a link method, and changing the power transmission direction from the input shaft assembly to the output shaft assembly.

A bolt-type angular gear mechanism (1), having angular bolts (3) each with two limbs, which are angled in relation to each other, a first bolt carrier (11), which is rotatable about a first axis (13) and has first bolt receptacles (15), in each of which a first limb (5) of one of the angular bolts (3) is at least partially received, and a second bolt carrier (21), which is rotatable about a second axis (23), which is different from the first axis (13), and has second bolt receptacles (25), in each of which a second limb (7) of one of the angular bolts (3) is at least partially received, so that the first bolt carrier (11) and the second bolt carrier (21) are connected by means of the angular bolts (3), wherein the limbs of the angular bolt (3) have a flattened portion (39), wherein the flattened portion extends in the longitudinal direction of the limb.