Abstract:
The various embodiments disclosed and pictured herein are directed to an epicyclic joint with at least one axis of rotation. The epicyclic joint includes rotational members mounted to frame members in such a manner that rotational energy may be transposed along multiple axes of rotation without the need for the frame members to rotate. Epicyclic gear sets and compensation gears and shafts are employed to mitigate vibration, stress, and perturbation of the rotating members when the orientation of the epicyclic joint is varied along any of the axes of rotation. Planetary gear sets or differential gear sets may be used with the epicyclic joint, as may spur gears and miter gears.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims the filing benefit under 35 U.S.C. §119(e) of provisional U.S. Patent Application Ser. No. 61/197,074 filed on Oct. 23, 2008, as well as International Patent Application No. PCT/US09/61737, both of which are incorporated herein in their entirety. 
    
    
     FIELD OF INVENTION 
     The present invention relates to an apparatus for an epicyclic joint. More specifically, the present invention provides a wide angle, constant power, multi-axis joint with epicyclic gearing. 
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     No federal funds were used to develop or create the invention disclosed and described in the patent application. 
     REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTING COMPACT DISK APPENDIX 
     Not Applicable 
     AUTHORIZATION PURSUANT TO 37 C.F.R. §1.72(d) 
     A portion of the disclosure of this patent document contains material which is subject to copyright and trademark protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyrights whatsoever. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered limited of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings. 
         FIG. 1  provides a perspective view of one embodiment of a multi-axis epicyclic joint not rotated about either axis of rotation. 
         FIG. 2  provides another perspective view of one embodiment of a multi-axis epicyclic joint at an extreme position about the first axis of rotation and not rotated about the second axis of rotation. 
         FIG. 3  provides another perspective view of one embodiment of a multi-axis epicyclic joint not rotated about the first axis of rotation and at an extreme position about the second axis of rotation. 
         FIG. 4  provides another perspective view of one embodiment of a multi-axis epicyclic joint at an extreme position about the first axis of rotation and an extreme position about the second axis of rotation. 
         FIG. 5A  provides a perspective view of one embodiment of a multi-axis epicyclic joint at an intermediate position about the first axis of rotation and an intermediate position about the second axis of rotation. 
         FIG. 5B  provides another perspective view of one embodiment of a multi-axis epicyclic joint at an intermediate position about the first axis of rotation and an intermediate position about the second axis of rotation. 
         FIG. 6A  provides a detailed view of one embodiment of a center frame that may be used with a multi-axis epicyclic joint. 
         FIG. 6B  provides a partial exploded view of one embodiment of a center frame that may be used with a multi-axis epicyclic joint. 
         FIG. 7A  provides an end view of one embodiment of a planetary gear head that may be used with a multi-axis epicyclic joint. 
         FIG. 7B  provides a perspective view of one embodiment of a planetary gear head that may be used with a multi-axis epicyclic joint. 
     
    
    
     DETAILED DESCRIPTION 
     Listing of Elements 
     
       
         
               
               
               
             
           
               
                   
                   
               
               
                   
                 ELEMENT DESCRIPTION 
                 ELEMENT # 
               
               
                   
                   
               
             
             
               
                   
                 Epicyclic joint 
                 10 
               
               
                   
                 First axis of rotation 
                 12 
               
               
                   
                 Second axis of rotation 
                 14 
               
               
                   
                 First frame 
                 20 
               
               
                   
                 First frame splitter support 
                 22 
               
               
                   
                 Input shaft 
                 23a 
               
               
                   
                 Input gear 
                 23b 
               
               
                   
                 Right split shaft 
                 24a 
               
               
                   
                 First right split gear 
                 24b 
               
               
                   
                 Second right split gear 
                 24c 
               
               
                   
                 Left split shaft 
                 25a 
               
               
                   
                 First left split gear 
                 25b 
               
               
                   
                 Second left split gear 
                 25c 
               
               
                   
                 Right transfer support 
                 26 
               
               
                   
                 Right transfer shaft 
                 27a 
               
               
                   
                 First right transfer gear 
                 27b 
               
               
                   
                 Second right transfer gear 
                 27c 
               
               
                   
                 Left transfer support 
                 28 
               
               
                   
                 Left transfer shaft 
                 29a 
               
               
                   
                 First left transfer gear 
                 29b 
               
               
                   
                 Second left transfer gear 
                 29c 
               
               
                   
                 Center frame 
                 30 
               
               
                   
                 Right center shaft 
                 31a 
               
               
                   
                 First right miter gear 
                 31b 
               
               
                   
                 Second right miter gear 
                 31c 
               
               
                   
                 Right planetary gear head 
                 32 
               
               
                   
                 Right spur gear 
                 33 
               
               
                   
                 Left center shaft 
                 35a 
               
               
                   
                 First left miter gear 
                 35b 
               
               
                   
                 Second left miter gear 
                 35c 
               
               
                   
                 Left planetary gear head 
                 36 
               
               
                   
                 Left spur gear 
                 37 
               
               
                   
                 Center frame journal 
                 38 
               
               
                   
                 Top center shaft 
                 41a 
               
               
                   
                 First top miter gear 
                 41b 
               
               
                   
                 Second top miter gear 
                 41c 
               
               
                   
                 Top planetary gear head 
                 42 
               
               
                   
                 Top spur gear 
                 43 
               
               
                   
                 Bottom center shaft 
                 45a 
               
               
                   
                 First bottom miter gear 
                 45b 
               
               
                   
                 Second bottom miter gear 
                 45c 
               
               
                   
                 Bottom planetary gear head 
                 46 
               
               
                   
                 Bottom spur gear 
                 47 
               
               
                   
                 First compensation shaft support 
                 52 
               
               
                   
                 First compensation shaft 
                 53a 
               
               
                   
                 First compensation gear 
                 53b 
               
               
                   
                 Second compensation shaft support 
                 54 
               
               
                   
                 Second compensation shaft 
                 55a 
               
               
                   
                 Second compensation gear 
                 55b 
               
               
                   
                 Second frame 
                 60 
               
               
                   
                 Second frame splitter support 
                 62 
               
               
                   
                 Output shaft 
                 63a 
               
               
                   
                 Output gear 
                 63b 
               
               
                   
                 Top split shaft 
                 64a 
               
               
                   
                 First top split gear 
                 64b 
               
               
                   
                 Second top split gear 
                 64c 
               
               
                   
                 Bottom split shaft 
                 65a 
               
               
                   
                 First bottom split gear 
                 65b 
               
               
                   
                 Second bottom split gear 
                 65c 
               
               
                   
                 Top transfer support 
                 66 
               
               
                   
                 Top transfer shaft 
                 67a 
               
               
                   
                 First top transfer gear 
                 67b 
               
               
                   
                 Second top transfer gear 
                 67c 
               
               
                   
                 Bottom transfer support 
                 68 
               
               
                   
                 Bottom transfer shaft 
                 69a 
               
               
                   
                 First bottom transfer gear 
                 69b 
               
               
                   
                 Second bottom transfer gear 
                 69c 
               
               
                   
                 Planetary gear head 
                 70 
               
               
                   
                 Input shaft 
                 71 
               
               
                   
                 Sun gear 
                 72 
               
               
                   
                 Planet carrier 
                 73 
               
               
                   
                 Planet gear 
                 74 
               
               
                   
                 Annulus 
                 75 
               
               
                   
                 Annulus recess 
                 76 
               
               
                   
                   
               
             
          
         
       
     
     DETAILED DESCRIPTION 
     Before the various embodiments of the present invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that phraseology and terminology used herein with reference to device or element orientation (such as, for example, terms like “front”, “back”, “up”, “down”, “top”, “bottom”, and the like) are only used to simplify description of the present invention, and do not alone indicate or imply that the device or element referred to must have a particular orientation. In addition, terms such as “first”, “second”, and “third” are used herein and in the appended claims for purposes of description and are not intended to indicate or imply relative importance or significance. 
     General Description of the Components 
     A description of the several components required for one embodiment of the epicyclic joint follows. A more detailed description of the operation and relation of the several elements are disclosed in the figures and the remainder of the specification. 
     It is contemplated that one type of epicyclic gearing system that may be used with the epicyclic joint  10  is a planetary gearing system. Planetary gearing systems typically include one sun gear and a plurality of planet gears. Such gearing systems are well known to those skilled in the art and therefore will not be described in further detail herein for purposes of clarity. U.S. Pat. Nos. 4,644,822, 4,618,022, and 4,727,954, all of which are incorporated by reference herein in their entireties, disclose common uses of planetary gear sets. Another type of epicyclic gearing system that may be used with the epicyclic joint  10  is a common differential with beveled gears. U.S. Pat. Nos. 2,608,261 and 3,400,610, both of which are incorporated by reference herein in their entireties, disclose apparatuses using differentials with beveled gears. Accordingly, the scope of the epicyclic joint  10  is not limited by the type of epicyclic gearing and/or gear sets used, and any such gearing and/or gear sets known to those skilled in the art may be used without departing from the spirit and scope of the epicyclic joint  10  as disclosed herein. 
     Operation of the Exemplary Embodiment 
     Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views,  FIGS. 1-5  provide perspective views of one embodiment of the epicyclic joint  10 . In the embodiment of the epicyclic joint  10  shown in  FIGS. 1-5 , the epicyclic joint  10  operates to allow a rotational energy input from the input shaft  23   a  to be rotated about a first axis of rotation  12  and a second axis of rotation  14  to an output shaft  63   a . However, the epicyclic joint  10  may be configured for a single axis of rotation or for more than two axes of rotation within the spirit and scope of the epicyclic joint  10  as disclosed and claimed herein. 
     The embodiment of the epicyclic joint  10  pictured herein is comprised of three main portions: (1) a first frame  20  and the elements associated therewith (generally horizontally oriented in  FIGS. 1-5 ); (2) a central frame  30  and the elements associated therewith; and, (3) a second frame  60  and the elements associated therewith (generally vertically oriented in  FIGS. 1-5 ). The first frame  20  is pivotally mounted to the central frame  30  about the first axis of rotation  12 , and the second frame  60  is pivotally mounted to the central frame  30  about the second axis of rotation  14 . The first axis of rotation  12  and the second axis of rotation  14  are perpendicular to one another in the embodiment of the epicyclic joint  10  pictured herein, although other it may be configured for other orientations without departing from the spirit and scope of the epicyclic joint  10  as disclosed and claimed herein. In an embodiment not pictured herein, the epicyclic joint  10  includes only one axis of rotation, and in another embodiment not pictured herein, the epicyclic joint  10  includes more than two axes of rotation. 
     The first frame  20  in the embodiment shown is generally U-shaped, and includes a first frame splitter support  22 , which in the embodiment pictured herein is comprised of U-shaped member wherein each surface is perpendicular to the adjacent surface. Right and left transfer supports  26 ,  28 , respectively, may be mounted to each side of the first frame  20 . These various elements of the first frame  20  may be separately formed and then joined together, or they may be integrally formed as one continuous structure. Furthermore, the orientations and/or configurations of the various elements of the first frame  20  may be different in other embodiments not pictured herein. The material used to construct the main frame  20  and/or the various components thereof may be any material known to those skilled in the art and suitable for the particular application. Such materials may include metals, alloys, synthetic materials such as polymers, wood, combinations thereof, or any other material known to those skilled in the art. 
     As indicated, the first frame  20  may be generally U-shaped, with the first frame splitter support  22  and right and left transfer supports  26 ,  28  formed as protrusions thereon. An input shaft  23   a  is rotatably mounted to the first frame  20 , as shown in  FIG. 1 . Affixed to and rotatable with one end of the input shaft  23   a  is an input gear  23   b , which is formed as a miter gear in the embodiment pictured herein. As rotational force is applied to the input shaft  23   a , that force is directly communicated to the input gear  23   b . A miter gear is one type of rotational translator that may be used with the epicyclic joint  10 . 
     Intermeshed with the input gear  23   b  are a first right split gear  24   b  and a first left split gear  25   b  The first right and left split gears  24   b ,  25   b  rotate about an axes that is perpendicular to that of the input gear  23   b . Accordingly, it will be obvious to those skilled in the art that as the input gear  23   b  rotates, it causes the right and left first split gears  24   b ,  25   b  to rotate in opposite directions. The first right split gear  24   b  is affixed to and rotatable with a right split shaft  24   a , which may be pivotally mounted to said first frame splitter support  22  in the embodiment pictured herein. The first left split gear  25   b  is affixed to and rotatable with a left split shaft  25   a , which also may be pivotally mounted to said first frame splitter support  22  in the embodiment pictured herein. Also affixed to the right split shaft  24   a  and rotatable therewith is a second right split gear  24   c , and a second left split gear  25   c  is affixed to and rotatable with the left split shaft  25   a . Accordingly, the right split shaft  24   a  and associated components and left split shaft  25   a  and associated components are one type of symmetrical splitter that may be used with the epicyclic joint  10  to divide the rotational energy of the input shaft  22  and translate that energy by ninety degrees. The first and second right split gears  24   b ,  24   c , first and second left split gears  25   b ,  25   c  are one type of rotational energy dividing member, but other structures and/or methods known to those skilled in the art may be used to divide the rotational energy of the input shaft  22  as described in detail below. 
     A right transfer support  26  may be affixed to the first frame  20 , and a complimentary left transfer support  28  may also be affixed to the first frame  20 . A right transfer shaft  27   a  may be pivotally mounted to the right transfer support  26  and a left transfer shaft  29   a  may be pivotally mounted to the left transfer support  28 , as in the embodiment pictured in  FIGS. 1-5 . A first right transfer gear  27   b  may be mounted to and rotatable with one end of the right transfer shaft  27   a  so that the first right transfer gear  27   b  intermeshes with the second right split gear  24   b . A first left transfer gear  29   b  may be mounted to and rotatable with one end of the left transfer shaft  29   a  so that the first left transfer gear  29   b  intermeshed with the second left split gear  25   b . Accordingly, the right transfer shaft  27   a  together with the first and second right transfer gears  27   b ,  27   c  comprise one type of transfer member, as do the left transfer shaft  29   a  together with the first and second right transfer gears  29   b ,  29   c.    
     A center frame  30  may be positioned adjacent the first frame  20  on the end thereof that is opposite the input shaft  23   a . One embodiment of the center frame  30  is shown in detail in  FIGS. 6A and 6B , in which embodiment the center frame  30  is generally square in shape. As with the first frame  20 , the components of the center frame  30  may be separately formed and then joined together, or they may be integrally formed as one continuous structure. The material used to construct the center frame  30  and/or the various components thereof may be any material known to those skilled in the art and suitable for the particular application. Such materials may include metals, alloys, synthetic materials such as polymers, wood, combinations thereof, or any other material known to those skilled in the art. 
     In the embodiment pictured herein, the first frame  20  is engaged with the center frame  30  via the cooperation of the right center shaft  31   a , left center shaft  35   a , right planetary gearhead  32 , and left planetary gearhead  36 . The right center shaft  31   a  may be pivotally supported by the first frame  20 , and a first right miter gear  31   b  may be affixed to and rotatable with the right center shaft  31   a . The left center shaft  35   a  may be pivotally supported by the first frame  20 , and a first left miter gear  35   b  may be affixed to and rotatable with the left center shaft  35   a.    
     A right planetary gearhead  32  may be positioned adjacent the first right miter gear  31   b . One type of planetary gearhead  70  that may be used with the epicyclic joint as disclosed herein is shown in  FIGS. 7A and 7B . The planetary gearhead  70  shown in  FIGS. 7A and 7B  includes a sun gear  72  that may be affixed to and rotatable with the input shaft  71  (e.g., the right center shaft  31   a  in an embodiment of the right planetary gearhead  32 ). In a typically planetary gearhead  70 , a plurality of planet gears  74  (three in the embodiment shown in  FIGS. 7A and 7B , but which may be greater or fewer in other embodiments not pictured herein) are pivotally mounted to a planet carrier  73 , and the planet gears  74  are intermeshed with the sun gear  72 . An annulus  75  may be placed around the planet carrier  73  such that the annulus also is intermeshed with the planet gears  74 . The exterior surface of the annulus  75  includes an annulus recess  76 , which may be fashioned to pivotally engage a center frame journal  38 . In the embodiment of the planetary gearhead  70  shown in  FIGS. 7A and 7B , the size and configuration of the sun gear  72 , planet gears  74 , and annulus  75  result in a three-to-one reduction in the rotational speed of the planet carrier  73  with respect to the sun gear  72  (and input shaft  71 , accordingly). However, because the embodiment of the epicyclic joint  10  shown herein transfers rotational energy from an input shaft  71  to a planet carrier  73 , and then from another planet carrier  73  back to an input shaft  71  (via the interaction of the second right miter gear  31   c , second left miter gear  35   c , second top miter gear  41   c , and second bottom miter gear  45   c ), the rotational speed of the output shaft  63   a  on the second frame  60  is equal to that of the input shaft  23   a  on the first frame  20 . This ratio may be different in other embodiments of the epicyclic joint  10 , and is therefore in no way limiting. 
     In the embodiment of the epicyclic joint  10  pictured in  FIGS. 1-5 , right planetary gearhead  32  is pivotally mounted to the center frame  30  about the center frame journal  38  formed in the right side of the center frame  30 . The sun gear  72  in the right planetary gearhead  32  may be affixed to and rotatable with the right center shaft  31   a . The planet carrier  73  in the right planetary gearhead  32  may be affixed to and rotatable with the second right miter gear  31   c . A right spur gear  33  may be affixed to and rotatable with the annulus  75  of the right planetary gearhead  32 . 
     A first compensation shaft support  52  may be affixed to the center frame  30 . A first compensation shaft  53   a  may be pivotally supported by the first compensation shaft support  52 . In the embodiment shown in  FIGS. 1-5 , two first compensation gears  53   b  are affixed to and rotatable with the first compensation shaft  53   a . One first compensation gear  53   b  may be intermeshed with the right spur gear  33  and the other first compensation gear  53   b  may be intermeshed with the left spur gear  37 , which is explained in detail below. The first compensation shaft support  52  may be affixed elsewhere on the epicyclic joint  10  in other embodiments thereof not pictured herein. The first compensation shaft support  52  may have any convenient orientation or configuration as long as it does not interfere with the other components of the epicyclic joint  10  and allows the appropriate components to engage one another 
     In a manner analogous to the right planetary gearhead  32 , a left planetary gearhead  36  may be positioned adjacent the first left miter gear  35   b . The left planetary gearhead  36  may be pivotally mounted to the center frame  30  about the center frame journal  38  formed in the right side of the center frame  30 . The sun gear  72  in the right planetary gearhead  36  may be affixed to and rotatable with the left center shaft  35   a . The planet carrier  73  in the left planetary gearhead  36  may be affixed to and rotatable with the second left miter gear  35   c . A left spur gear  37  may be affixed to and rotatable with the annulus  75  of the left planetary gearhead  36 . 
     Because the planet carrier  73  in the right planetary gearhead  32  rotates in the opposite direction of the planet carrier  73  in the left planetary gearhead  36 , the first compensation shaft  53   a  and first compensation gears  53   b  bind the right and left planetary gearheads  32 ,  36  together. As is apparent from the description and various figures included herein, the right center shaft  31   a , right planetary gearhead  32 , left center shaft  35   a , and left planetary gearhead  36  cooperate to engage the first frame  20  with the center frame  30  about a first axis of rotation  12 . The first frame  20  is allowed to rotate with respect to the center frame  30  about the first axis of rotation  12  through the cooperation of the right and left planetary gearheads  32 ,  36  with the first compensation shaft  53   a  and first compensation gears  53   b.    
     More specifically, because the right spur gear  33  (which is affixed to and rotatable with the annulus  75  of the right planetary gearhead  32 ) may rotate independently from the second right miter gear  31   c  (which is affixed to and rotatable with the planet carrier  73  of the right planetary gearhead  32 ), and because the left spur gear  37  (which is affixed to and rotatable with the annulus  75  of the left planetary gearhead  36 ) may rotate independently from the second left miter gear  35   c  (which is affixed to and rotatable with the planet carrier  73  of the left planetary gearhead  36 ), both by virtue of the epicyclic qualities of the planetary gearhead  70 , the first frame  20  may pivot with respect to the center frame  30  about the first axis of rotation  12  (which also causes the annuluses  75  of the right and left planetary gearheads  32 ,  36  to rotate about their respective center frame journals  38 ) without lashing of any of the gears in the epicyclic joint  10 . During rotation of the first frame  20  with respect to the center frame  30 , the first compensation shaft  53   a  does not rotate, but instead requires that the right and left spur gears  33 ,  37  rotate in the same direction by the same magnitude, even though the second right miter gear  31   c  and second left miter gear  35   c  are counter rotating. Accordingly, a stationary gear may be positioned to intermesh with either the right or left spur gear  33 ,  37  to achieve the same functionality as that of the epicyclic joint  10  pictured herein. 
     In an embodiment not pictured herein, a single output gear (not shown) is pivotally supported by the center frame  30  and arranged to intermesh with both the second right and left miter gears  31   c ,  35   c . The single output gear may be affixed and rotatable with an output shaft (not shown), such that the arrangement creates a single-axis epicyclic joint  10 . In light of the present disclosure it will become apparent to those skilled in the art that in an embodiment not pictured herein, the right spur gear  33  may be affixed to and rotatable with the planet carrier  73  of the right planetary gearhead  32 , and the second right miter gear  31   c  may be affixed to and rotatable with the annulus  75  of the right planetary gearhead  32  with an analogous configuration for the elements on the left side of the epicyclic joint  10  to yield a similarly functional first axis of rotation  12 . Furthermore, it will also become apparent to those skilled in the art in light of the present disclosure that the right and left planetary gearheads  32 ,  36  and first compensation shaft and gears  53   a ,  53   b  may be positioned adjacent the first frame splitter support  22  if spur transfer gears (not shown) are employed in lieu of the right and left transfer shafts and gears  27   a ,  29   a , and  27   b ,  27   c ,  29   b ,  29   c , respectively. 
     As is apparent from the detailed description and several figures included herein, the various elements of the first frame  20  may cooperate to divide a single rotational input into two counter-rotating rotational energy sources with axes of rotation perpendicular to that of the rotational input. Each counter-rotating rotational energy source may then be transferred to an epicyclic gearhead (which is shown as a planetary gearhead  70  in the embodiment pictured herein) and eventually combined to produce an output rotational energy source with an axis of rotation parallel to that of the rotational input. 
     To yield a second axis of rotation  14  as in the embodiment of the epicyclic joint  10  shown herein, a top and bottom planetary gearhead  42 ,  46  may be pivotally mounted to the center frame  30  about respective center frame journals  38 . The top and bottom portions of the center frame  30  and second frame  60  are analogous to the right and left portions of the center frame  30  and first frame  20 , respectively. The top and bottom portions of the center frame  30  and second frame  60  are mirror images of the right and left portions of the center frame  30  and first frame  20  rotated along a horizontal axis by negative ninety degrees. Accordingly, the second top miter gear  41   c  may be affixed to the planet carrier  73  of the top planetary gearhead  42  and the top spur gear  43  may be affixed to the annulus  75  of the top planetary gearhead  42 . The second bottom miter gear  45   c  may be affixed to the planet carrier  73  of the bottom planetary gearhead  46  and the bottom spur gear  47  may be affixed to the annulus  75  of the bottom planetary gearhead  46 . The second top and bottom miter gears  41   c ,  45   c  may be intermeshed with both the second right miter gear  31   c  and second left miter gear  35   c , such that the counter-rotating second right and left miter gears  31   c ,  35   c  cause the second top and bottom miter gears  41   c ,  45   c  to counter rotate. Accordingly, the configuration of the second right and left miter gears  31   c ,  35   c  and second top and bottom miter gears  41   c ,  45   c  translate the axis of rotation of the rotational energy by negative ninety degrees (i.e., from horizontal to vertical as shown in the orientation pictured in  FIG. 5A ). 
     The rotation of the second top and bottom miter gears  41   c ,  45   c  causes the rotation of planet carriers  73  in the top and bottom planetary gearheads  42 ,  46 , respectively. A second compensation shaft support  54  may be affixed to the center frame  30  to pivotally support a second compensation shaft  55   a , which second compensation shaft may have two second compensation gears affixed thereto and rotatable therewith. The second compensation shaft support  54  may be affixed elsewhere on the epicyclic joint  10  in other embodiments thereof not pictured herein. The second compensation shaft support  54  may have any convenient orientation or configuration as long as it does not interfere with the other components of the epicyclic joint  10  and allows the appropriate components to engage one another 
     The second compensation gears  55   b  may be intermeshed with the top and bottom spur gears  43 ,  47 , respectively. Because the top and bottom spur gears  43 ,  47  may be affixed to and rotatable with the annuluses  75  of the top and bottom planetary gearheads  42 ,  46 , respectively, the configuration of the second compensation shaft and gears  55   a ,  55   b  require that the rotation of the planet carrier  73  results in rotation of the sun gear  72  and top and bottom center shafts  41   a ,  45   a . In a manner completely analogous to that explained in detail above for the first frame  20  and center frame  30 , the top center shaft  41   a  (which may be pivotally supported by the second frame  60 ), top planetary gearhead  42 , bottom center shaft  45   a  (which may be pivotally supported by the second frame  60 ), and bottom planetary gearhead  46  cooperate to engage the second frame  60  with the center frame  30  about a second axis of rotation  14 , which in the embodiment of the epicyclic joint  10  shown herein is perpendicular to the first axis of rotation  12 . The second frame  60  is allowed to rotate with respect to the center frame  30  about the second axis of rotation  14  through the cooperation of the top and bottom planetary gearheads  42 ,  46  with the second compensation shaft  55   a  and second compensation gears  55   b.    
     The first top miter gear  41   b , which may be affixed to and rotatable with the top center shaft  41   a  (i.e., input shaft  71 ) and sun gear  72  in the top planetary gearhead  42 , may be intermeshed with the second top transfer gear  67   c . The first bottom miter gear  45   b , which may be affixed to and rotatable with the bottom center shaft  45   a  (i.e., input shaft  71 ) and sun gear  72  in the bottom planetary gearhead  46 , may be intermeshed with a second bottom transfer gear  69   c . This engagement translates the rotational energy with axes of rotation in two primarily vertical directions (in the orientation shown in  FIG. 1 ) to rotational energy with axes of rotation in two primarily horizontal directions (in the orientation shown in  FIG. 1 ). 
     In a manner analogous to that of the first frame  20 , the second top and bottom transfer gears  67   c ,  69   c , may be affixed to and rotatable with top and bottom transfer shafts  67   a ,  69   a , respectively, and first top and bottom transfer gears  67   b ,  69   b , may also be affixed to and rotatable with the top and bottom transfer shafts  67   a ,  69   a , respectively. As in a manner similar to that described above for the first frame  20 , the top transfer shaft  67   a  is pivotally supported by the top transfer support  66 , and the bottom transfer shaft  69   a  is pivotally supported by the bottom transfer support  68 . Furthermore, the first top and bottom transfer gears  67   b ,  69   b  may be intermeshed with a second top and bottom split gear  64   c ,  65   c  respectively. As is readily apparent from  FIG. 1 , this engagement translates the rotational energy with axes or rotation in two primarily horizontal directions (in the orientation shown in  FIG. 1 ) to rotational energy with axes of rotation in two primarily vertical directions (in the orientation shown in  FIG. 1 ). 
     The second top and bottom split gears  64   c ,  65   c  may be affixed to and rotatable with top and bottom split shafts  64   a ,  65   a , respectively. In the embodiment pictured herein, the top and bottom split shafts  64   a ,  65   a  are each pivotally supported by the second frame  60  adjacent the second frame splitter support  62 , all of which is completely analogous to the first frame  20 . First top and bottom split gears  64   b ,  65   b  may be affixed to and rotatable with the top and bottom split shafts  64   a ,  65   a , respectively. The first top and bottom split gears  64   b ,  65   b , in turn, may be intermeshed with an output gear  63   b , which in the embodiment pictured herein combines two rotational energy sources into one single source transferred to the output shaft  63   a , to which the output gear  63   b  may be affixed and with which the output gear  63   b  may be rotatable. The first and second top split gears  64   b ,  64   c , first and second left split gears  65   b ,  65   c  are one type of rotational energy combing member, but other structures and/or methods known to those skilled in the art may be used to divide the rotational energy of the output shaft  62 . 
     As with the first frame  20  and center frame  30 , the components of the second frame  60  may be separately formed and then joined together, or they may be integrally formed as one continuous structure. The material used to construct the second frame  60  and/or the various components thereof may be any material known to those skilled in the art and suitable for the particular application. Such materials may include metals, alloys, synthetic materials such as polymers, wood, combinations thereof, or any other material known to those skilled in the art. 
     In the embodiment of the epicyclic joint  10  pictured herein, the center frame  30  in combination with the second right, left, top, and bottom miter gears  31   c ,  35   c ,  41   c ,  45   c , respectively serves as a type of translator. That is, the various elements associated with these components of the center frame  30  function to translate the axis of rotation for rotational energy into a different orientation, which in the embodiment pictured herein is from an axis that is generally horizontal to one that is generally vertical. 
     The epicyclic joint  10  is not limited by the number of planet gears  74  used for any of the planetary gear sets. Accordingly, any type of planetary gear set may be used with the epicyclic joint  10  without departing from the spirit and scope of the present invention. Furthermore, as previously mentioned, in light of the preceding disclosure, it will be apparent to those skilled in the art that a differential gear set may be used with the epicyclic joint  10  in place of a planetary gear set. Therefore, the specific type of epicyclic gear set used with the epicyclic joint  10  in no way limits the scope of the epicyclic joint  10 , and any type of epicyclic gear set known to those skilled in the art may be used with epicyclic joint  10  without departing from the spirit and scope thereof. 
     In other embodiments of the epicyclic joint  10  not pictured herein, other structures and/or methods other than the right transfer shaft  27   a  and associated right transfer gears  27   b ,  27   c , left transfer shaft  29   a  and associated left transfer gears  29   b ,  29 , top transfer shaft  67   a  and associated top transfer gears  67   b ,  67   c , and bottom transfer shaft  69   a  and associated bottom transfer gears  69   b ,  69   c  may be used to transport the rotational energy from a rotating member positioned on the first frame  20  to the center frame  30  and/or from the center frame  30  to the second frame  60 . For example, large spur gears (not shown) may be used, as may chains with sprockets, or any other structure and/or method known to those skilled in the art. 
     In light of the present disclosure, it will be obvious to those skilled in the art that the symmetry associated with the embodiment of the epicyclic joint  10  shown in the various figures herein possesses certain inherent advantages. The input rotational energy is symmetrically divided about the first frame  20 , which rotational energy is then symmetrically translated by ninety degrees about the center frame  30 , which rotational energy is then transmitted along the second frame  60  before being combined into one rotational energy output at the output shaft  63   a.    
     Other embodiments of the epicyclic joint  10  may not require the level of symmetry contained in the embodiment pictured herein. In fact, in other applications it is contemplated that non-symmetrical configurations may be advantageous. For example, in another embodiment of the epicyclic joint not pictured herein, the rotational energy is not symmetrically divided about the first frame  20  and/or not symmetrically translated about the center frame  30 . Furthermore, the rotational energy may be transferred along the second frame  60  and combined adjacent thereto in a non-symmetrical fashion. Such non-symmetrical embodiments of the epicyclic joint  10  may employ torque vectoring apparatuses, such as that disclosed in U.S. Pat. No. 7,491,147, which is incorporated herein in its entirety. 
     As will be obvious to those skilled in the art in light of the present disclosure and accompanying drawings, the length of the first frame  20  with respect to the size of the center frame  30  and second frame  60  is an important factor in determining how far the first frame may rotate with respect to the center frame  30  about the first axis of rotation  12 . For example, if the first frame  20  is sufficiently lengthened with respect to the second frame  60 , but the center frame  30  remains in proportion to the second frame  60  as shown in the various figures contained herein, the epicyclic joint  10  may be configured to allow the first frame  20  to rotate three hundred and sixty degrees with respect to the center frame  30  about the first axis of rotation  12 . In a similar manner, the epicyclic joint  10  may be configured to allow the second frame  60  to rotate three hundred and sixty degrees with respect to the center frame  30  about the second axis of rotation  14 . Accordingly, the degree of freedom of motion for either the first frame  20  or second frame  60  with respect to one another or the center frame  30  in no way limits the scope of the epicyclic joint  10  as disclosed and claimed herein. 
     It will be apparent to those skilled in the art in light of the present disclosure that the epicyclic joint  10  may be configured with more than two axes of rotation. In such an embodiment, another frame similar to the center frame  30  would be positioned adjacent the second frame  60  for engagement therewith. The output shaft  63   a  could be affixed to and rotatable with a miter gear (not shown), the cooperated with two other miter gears (not shown) to divide the rotational energy of the output shaft  63   a  into corresponding phases. The orientation of various axes of rotation of such an epicyclic joint  10  may be configured differently depending on the specific application, as may the maximum angle or rotation of any component about such an axis. The fact that the first and second axes of rotation  12 ,  14  are perpendicular to one another and that both are perpendicular to the longitudinal axis of the input shaft  23   a  in the embodiment pictured herein is in no way limiting. Accordingly, the epicyclic joint  10  may be used with any number of rotational axes in any number of orientations within the spirit and scope of the epicyclic joint  10  as disclosed and claimed herein. 
     The various advantages of the epicyclic joint  10  as disclosed and described herein will be apparent to those skilled in the art in light of the present disclosure. For example, one advantage the epicyclic joint  10  is increased range of motion about the first and second axes of rotation  12 ,  14 . In the embodiment pictured herein, the range of motion for each axis of rotation  12 ,  14  may greater than two hundred and seventy degrees. As explained above, in other embodiments not pictured herein the range of motion for one axis  12 ,  14  may be as large as 360 degrees. Another advantage of the epicyclic joint  10  is the lack of rotating frame members. In the epicyclic joint  10 , the first frame  20 , central frame  30 , and second frame  60  do not rotate in a manner dependent on the rotational energy of any of the components thereof. Instead, the first, center, and second frames  20 ,  30 ,  60  rotate about either the first axis of rotation  12  and/or the second axis of rotation  14  so that the epicyclic joint  10  may be oriented in the most advantageous direction for the specific application. The compensators (first compensation shaft and gears  53   a ,  53   b  and second compensation shaft and gears  55   a ,  55   b  in the embodiment pictured herein) allow the epicyclic joint  10  to be configured in an infinite number of orientations without additional shock, vibrations, or other perturbations imparted to the other components of the epicyclic joint  10  as rotational energy is being transmitted through the epicyclic joint  10 . 
     The epicyclic joint  10  and various elements thereof may be constructed of any suitable material known to those skilled in the art. In the embodiment as pictured herein, it is contemplated that various frame elements, shaft elements, and gear elements will be constructed of metal, aluminum, metallic or aluminum alloys, polymers, or combinations thereof. However, other suitable materials may be used. 
     Other methods of using the epicyclic joint  10  will become apparent to those skilled in the art in light of the present disclosure. Accordingly, the methods and embodiments pictured and described herein are for exemplary purposes only, and are not intended to limit the scope of the epicyclic joint  10  in any way. The scope of the epicyclic joint  10  is not limited by the embodiments pictured and described herein, but is intended to apply to all similar apparatuses and methods for allowing a rotational energy to be transmitted about one or more axes or rotation, which one or more axes or rotation are distinct from the axis of rotation of the rotational energy source. Modifications and alterations from the described embodiments will occur to those skilled in the art without departure from the spirit and scope of the epicyclic joint  10 . 
     It is understood that the epicyclic joint  10  as disclosed and defined herein extends to all alternative combinations of two or more of the individual features mentioned or evident from the text and/or drawings. All of these different combinations constitute various alternative aspects of the epicyclic joint  10 . The embodiments described herein explain the best modes known for practicing the epicyclic joint  10  and will enable others skilled in the art to utilize the same. The claims are to be construed to include alternative embodiments to the extent permitted by the prior art.