Mechanical device for transmitting torque to generate multi-degree-of-freedom rotation

A mechanical device for transmitting a torque so as to generate a multi-degree-of-freedom rotation, comprising:

• an immovable frame fastening the mechanical device, and including:
• a first hole;
• and
• a first sleeve disposed in the first hole, and having a first transmission element;
• a first shaft disposed inside the first hole and the first sleeve, and having a second hole;
• a second shaft disposed in the second hole, perpendicular to the first shaft, and including:
• a second sleeve including:
• a second transmission element having a first and a second ends, and meshing with the first transmission element at the first end, for driving the second sleeve in accordance with a rotation of the first shaft;
• a first spur gear disposed at the second end of the second transmission element;
• and
• a first connecting element located at the second shaft and adjacent to the first spur gear;
• and
• a third sleeve including:
• a first balance element having a first and a second ends, and contacted with the first transmission element at the first end of the first balance element;
• a second balance element disposed at the second end of the first balance element;
• and
• a second connecting element disposed at the second shaft and adjacent to the second balance element;
• and
• a third shaft located between the first and the second connecting elements and parallel to the second shaft, including:
• a second spur gear meshing with the first spur gear and having a plurality of fourth shafts aligned in a ring shape;
• a third spur gear located at the third shaft;
• and
• a balance turntable connected with the second balance element, wherein each of the plurality of fourth shafts has a fourth spur gear, and the third spur gear meshes with each of the plurality of fourth spur gears.