Gears 2 and 5 are keyed to axle shafts A and B. Gear 2 meshes with planet gears 3 which are connected by turning pairs C to carrier 1, designed as a housing that rotates about axle shafts A and B. Gears 3 are rigidly attached to planet gears 4 which mesh with internal gear 5. Axle shafts A and B are connected to the driving links of the mechanism. When the driving links rotate at the same speed in the same direction, housing 1 rotates at the same speed as sun gears 2 and 5. If the driving links have different speeds, then, when gears 2 and 5 rotate, planet gears 3 and 4 rotate about axes C. The speeds n₂, n₅ and n₁ of gears 2 and 5, and housing 1 (in rpm) are related by the equation n₁=n₂(z₂z₄)/(z₂z₄+z₃z₅)+n₅(z₃z₅)/(z₂z₄+z₃z₅) where z₂, z₃, z₄ and z₅ are the numbers of teeth of gears 2, 3, 4 and 5.
$2906$CxG,DR$