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The conical planetary gear mechanism is a mechanical system used for transmitting and transforming motion and torque, combining features of bevel gears and planetary gear mechanisms. In robotic arms, this structure is often used for precise position control and force transmission. **Mechanical Principle Explanation:** 1. **Bevel Gears**: Bevel gears have conical gear faces that can transmit motion and power between two intersecting axes. Their design allows them to work efficiently at various an
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