ANGULAR DRIVE INTERMITTENT MOTION MECHANISM

ANGULAR DRIVE INTERMITTENT MOTION MECHANISM An intermittent drive mechanism is provided for intermittently driving an output shaft with an input shaft that has an axis that intersects the axis of the output shaft at an angle. A driving element on the input shaft couples with a driven element on the output shaft through pairs of corresponding accelerating and decelerating pin and slot combinations which engage each other intermittently at the surface of an imaginary sphere which is centered at the intersection point of the shafts. Embodiments are provided both with and without intermittent driving gears on the elements to maintain the output shaft rotation at constant maximum velocity through a predetermined arc. The slots are curved, preferably in circular arcs, so as to optimize acceleration and the rate of change of acceleration (jerk), particularly as the output shaft approaches and leaves the point of maximum angular velocity. Preferably, acceleration and deceleration are zero approaching and leaving the maximum velocity point, where, with the geared version, jerk is also preferably zero. Maximum acceleration is preferably minimized.