图 上海久通大学 Planetary or Epicyclic Gears planetary train(行星轮系) differential train(差动轮系) DOF? b) 国 上酒充通大学 Planetary or Epicyclic Gears ◇ Conventional gearset has one DOF If you remove the ground at gear 3,it has two DOF Output 0am=0 Input #1 Input #1 3 2 ou! out Am.1⑤ Output Planet gear Input #2 Pinion Gear Sun gear (o)Conventional gearset (b)Planetary or epicyclic gearset 77 planetary train(行星轮系) differential train(差动轮系) Planetary or Epicyclic Gears DOF? Planetary or Epicyclic Gears  Conventional gearset has one DOF  If you remove the ground at gear 3, it has two DOF