Abstract: A universal driving device includes a ring gear, a sun gear having a variable inter-axis distance with respect to a rotation shaft of the ring gear, a gear train including a series of gears configured to connect the sun gear and the ring gear, link mechanisms configured to accommodate a change in an inter-axis distance between the sun gear and the ring gear and rotatably connected with respect to each other to continuously maintain a power transmission state between the sun gear and the ring gear, a carrier configured to support a rotation shaft of a final gear engaged with the ring gear, among the gears constituting the gear train, a sun gear bearing positioned between the rotation shaft of the sun gear and each of the link mechanisms, and a sleeve positioned between the sun gear bearing and each of the link mechanisms.

Abstract: A universal drive including a ring gear, a sun gear in which a sun gear axis is moveable relative to a ring gear axis of the ring gear, a gear train constituted by a series of gears configured to connect the sun gear and the ring gear to each other, a link mechanism connected to the sun gear and the ring gear in the state in which relative rotation therebetween is allowed such that a power transmission state between the sun gear and the ring gear is continuously maintained while accommodating a change in the inter-axis distance between the sun gear and the ring gear, a carrier installed so as to support a rotating shaft of a final gear engaged with the ring gear, and a sliding member located between at least one of the gears and the carrier.

Abstract: A gear train includes at least four gears sequentially engaged, multiple links configured to support the rotation shafts of the gears, and pins configured to fix the rotation shafts of the gears to the link, wherein the pins are installed such that, among the rotation shafts of the gears, two non-adjacent rotation shafts have both ends fixed to the link and one of adjacent rotation shafts has only one end fixed to the link.

Abstract: A universal driving device includes a ring gear, a sun gear installed such that the shaft distance between a rotation shaft of the sun gear and a rotation shaft of the ring gear is changeable, and a split gear disposed between the sun gear and the ring gear, and configured to split power, received from the sun gear through one path, into multiple paths and transmit the power to the ring gear.