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In 1683, Hooke proposed a solution to the nonuniform rotary speed of the universal joint: a pair of Hooke's joints 90° out of phase at either end of an intermediate shaft, an arrangement that is now known as a type of constant-velocity joint.
Accordingly, he invented three new mechanisms: the Hooke joint, a sophisticated universal joint that allowed his instruments to smoothly follow the apparent motion of the observed body; the first clockwork drive to automate the process; and a micrometer screw that allowed him to achieve a precision of ten seconds of arc.
Also, although universal joints are simple to produce and can withstand large forces, universal joints often become "notchy" and difficult to rotate as the angle of operation increases. The first type of constant-velocity joint was the Double Hooke's (Double Cardan) Joint which was invented by Robert Hooke in the 17th century. This design uses ...
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Robert Hooke (1635–1703), who mathematically analyzed the universal joint, was the first to note that the geometry and mathematical description of the (non-secular) equation of time and the universal joint were identical, and proposed the use of a universal joint in the construction of a "mechanical sundial". [18]: 219
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