Link 1 turns about fixed axis A and carries roller 2 which rotates about axis C-C. Roller 2 is in contact at point D with internal hemisphere e which has its centre at point A, is keyed to shaft 3 and rotates about fixed axis B. The transmission ratio from roller 2 to shaft 3 is i₂₃=ω₂/ω₃=n₂/n₃=(R/r₂)*sin(φ) where ω₂, ω₃, n₂ and n₃ are the angular velocities and speeds (in rpm) of roller 2 and shaft 3, R is the radius of hemisphere e, r₂ is the radius of roller 2 and φ is the variable angle between the plane of roller 2 and a plane passing through axes B and A.
$3469$CF,IV$