History
The universal joint, one of the earliest means of transmitting power between two angled shafts, was invented by Gerolamo Cardano in the 16th century. That it failed to maintain constant velocity during rotation was recognized by Robert Hooke in the 17th century, who proposed the first constant velocity joint, consisting of two Cardan joints offset by 90 degrees, so as to cancel out the velocity variations. This is the "double Cardan", shown below. Many different types of constant-velocity joints have been invented since then.
Read more about this topic: Constant-velocity Joint
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